I've been wearing rigid gas permeable contact lenses since I was about 13. I've used both soft and hard lenses I couldnt get used to the soft lenses. You should look into GP lenses as a different option. They have a shape that can't be changed and are very easy to take in and out.
I'm surprised. What part couldn't you get used to? I can't wear soft lenses anymore so my optometrist switched me to hard ones about two weeks ago and I'm thinking of just starting to wear glasses again. They're extremely uncomfortable and they don't seem to get any better over time (I know the usual getting used to them period is about 4-6 weeks but god damn they're awful on the eyes).
To OP: I had problems with them as well at the beginning, it would regularly take me 10-15 minutes to put them in. At some point I just developed a technique that would let me put them in and take them out in a second.
For inserting them in I just put them on the tip of my index finger, then I raise my head a little and pull my eyelid down with my other index finger an place them on the eye (you need to shake off that initial fear of touching your eye). Then I just blink and they fit perfectly and you don't even feel them on the eye (much unlike hard contacts).
For taking them out I just, again, pull down my eyelid with one index finger and then just grab the contact lens between my index finger and thumb with the other hand and do it like in this
image. Again you need to shake off that fear of touching your eye. You could also use
this to take them out. You just navigate it to the eye and it suctions to it and you just pull it away. You can't even feel it.