You are not going to learn with YouTube videos, those should only ever be supplementary. You need to get proper coaching,
I would simply say from my martial arts experience it comes, try not to worry about it. So long as the teacher don't give up on you (just don't expect more attentions than anyone else), just keep going, and try not to care what you look like. In fact if it looks good you are often doing it wrong.
I recommend one legged exercises for balance and core strength. Sand with your leg shoulder width apart front on, bend you knees you your bum is is level with your heals and you knee are level with you heals
1. Swing your (straight) legs forward and back in a large ark, for say 10 reps.
2. Then swing you (strength) leg down to up at the side, 10 reps.
3. Then rotate the leg in a large is circle to the side clockwise, keeping the leg straight as possible, 10 reps. Use the arms to counter balance (yes you can even circle the arms).
4. Do the same counter clockwise, 10 reps.
5. Bend at the knee and swing it back an forth across you body. Using the arms to counter swing 10 reps.
6. Have the knee in a fixed position, and rotate the lower leg in a circle like you area outlining a dustbin, 10 reps.
8. Rotate the other way.
9. Have the knee and ankle fixed, rotate the foot, 10 reps.
10. Rotate the other way.
11. Repeat 1-10 on with the other leg.
You may loose you balance quite bit, but persevere, and do this exercise often. Eventually you will be able to do this without putting you foot down all the way through one side, or wobbling, and you will be able to expand on this to build kicks into this.
My Martial art teacher, is deaf and has weakness in one ankle due to operation on childhood injury, this affects his balance, but he does this exercise and does it pretty well. He wobbles a bit but retains his balance, but in practice in sparing you wouldn't even know.
This exercise is really good for that, because it put through some of the extremes of balance. We even do one legged exercises where where have the leg extended out in a front kick and keep it there for extended periods whilst we do hand drills. It is though, but cool one to do on yearlings, bring them up to standard. it hurts, they fall over, tire, but eventually it doesn't hurt much, it is less of a big deal.