Learning to hover is like learning to ride a bike, your subconscious just has to figure out how to balance it.
It will come eventually with continued exposure, and probably just all of a sudden. One morning you'll still be hovering like ####, then in the afternoon BAM you can hover.
Anyway, the exercise that really helped me, was to go to a grassy area and hover taxi from sprinkler head to sprinkler head, stopping briefly at each before moving on to the next. We did it forward, then sideways hover taxi to the right, then to the left.