Yup, practice is key!
One thing with respect to margin width, and also the undercut issue that I found/still do find helpfull, is to have a clear mental image of what the bur you're using to prep the tooth looks like shape wise, and as a result, what your prep *should* look like after you're done using that bur.
Everyone/every lab tech has their own preference/opinion about what margin shape/size/finishline location will get the best final result, and as long as you can deliver a consistent shape to the lab tech that allows them to give you a result you're happy with that's great. Once you find that combo between margin shape/width and lab tech ability, what you'll find is that realistically there's a bur out there with those contours and that will become your goto bur. For example, I know that the diamond bur I use for about 98% of my finishline prepping of my crowns has a tip diameter of 1.4mm, which is enough space to allow the lab tech that handles my cases to be able to stack enough porcelain to get just about any possible color matching that I need. Since that bur also has the taper that I desire for the axial walls of my prep, all I have to do is make sure that at the finishline, that bur goes 360 degrees around the prep, to full tip width, with myself keeping the handpiece in the proper angulation. If I do that, I've got a prep with adequate, consistent marginal width/shape and a prep that is undercut free.
Also, as to width of the margin, especially if you're prepping an endodontically treated tooth, inspite of what your d-school professors might tell you, just about any lab tech out there will appreciate if you give him/her a little more than "ideal" width than a little less
😉 What most lab techs will tell you is that there's a minimum width they need, an ideal width they want, but there isn't a maximum width they can't handle!
