One thing which I would recommend is the "caterpillar exercise" basically playing 1st, 2nd, 3rd, 4th fret of the low E string (one at the top) then moving up to the next string, all the way up every string and back. Be sure to use all 4 of your fingers, (index for 1st fret, middle finger for 2nd, ring for 3rd, pinkie for 4th) it may feel strange, especially using the pinkie, but this kind of exercise is essential for building dexterity and getting used to using your pinkie finger.
As with everything you learn on guitar, start slow, make sure every note you play is clear, if you play a note and it doesn't sound clear then you need to keep working at that tempo until it's clear, then continue speeding up.
As for learning the chords, play the chord once, take your fingers off and shake your hand about briefly, and then play it again as quickly as possible while being sure that the notes are clear. Again, start slow and build up speed. Just focus on doing this for one chord (A chord for example, like you said you were struggling with) then when you can do it smoothly try doing two chords and shaking your hand about.
Calluses will form on your fingertips and make them harder so you can play more comfortably.
The main thing is, all this stuff is super boring, but if you try hard enough you'll get through it quickly. Learning guitar is the least fun part of the process, the fun comes later as a reward for your practicing
Good luck and feel free to PM me if you would like any more tips on a specific (or general) level