I really struggle as well. One tip I got was to lean my hand on my face. So a single contact point between your hand and face that you kinda pivot around, which helps a lot. Still hard.
Another thing you can do is go for a smoky eyes look instead. Most examples are black but you can really go for any color combo you like! Smoky eyes I think usually also involves eyeliner, but you can still play around without and get pretty eye makeup.