Sadly this is going to be 100% practice. There's no trick to it, you've just got to be efficient and relaxed with your movements.
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You could just play that 5 as an open E (the string above it); same note, less fretting. Or cheat and play the E (the 5th fret on your B string) an octave lower (so 2nd fret on the A string).
Last edited by Eryth at Dec 25, 2014,