Lol the very boring answer (which is true for lots of things) is practice.
I have a counter on iTunes for how many times a song has been played in full. Most of the older songs in our set list are multiples of hundreds. Not counting when I loop various parts of the song in Chordify to work on something.
It’s just repetition. But also when I was first doing the ‘post your covers’ I’d obsess over being note perfect.
Now I focus on the song structure and the lyrics so I can support the song and have the flexibility to adapt if we skip a verse etc.
99.99% of the audience don’t know the baseline. So as long as I’m in time, it’s all gravy.