Tbh it came with time for me, I couldn’t remember things for the life of me when I started and had to take my headset off when I was on bar but now it just flows. I can start one drink and then move to the second and if I forget usually the contents of the first one remind me what I was doing.

if i'm literally standing on bar with nothing to do, i'll start making the drink as soon as i hear it. but if i'm busy with another drink, i'll just wait for the ticket. if it's not a standard drink, or has ten million mods, i'll also wait for the ticket.

honestly, if you're bad as the listening part, you could also try to train yourself listen for specific parts that will help you bar faster when the ticket comes out. for example, they ordered a grand hot almond milk vanilla latte - you can listen specifically for size and milk type, and have the milk steaming already when the ticket comes out.

alternatively, just take any breaks between drinks to keep your area clean and organized/restocked, cause that will help with speed as well.

biggest tip is if you're in a rush or peak, just make drinks as the tickets print. sometimes making drinks as you listen will cause you to skip drinks cause you've unintentionally zoned out. it takes practice, but if you find one of these ways works for you, stick with it! it'll get easier :)