You can certainly get there as long as you don’t have severe trouble from old injuries, like deformation from a break. Even with that, you can usually figure a way around the problem. It just takes giving your body time to react.
Here is a list of answers I left to other topics that are quite similar:
- Look at Justin’s Finger Gym exercise:
https://www.justinguitar.com/guitar-lessons/play-better-guitar-the-finger-gym-exercise-bg-1503 - I describe something I used to get a specific song to work in the links below that you can extend to your own needs.
Finger Trouble - #5 by sequences
The Jack by AC/DC Lesson - #7 by sequences - edit: I found the reply I was thinking of! See #3 in the link below:
Older Beginner Fret Board Issues - I can’t land my fingers on a chord at the same time - #15 by sequences