Advice for improving territorial intuition?

I've hovered around 1k-1d for quite a while and feel like this is a major weakness of mine. Most of my games favor fighting (usually taking influence) and evaluating the board according to weak groups, thickness, attack and defense. When a game devolves into large scale fighting sequences, I feel comfortable and often in control. My issue lies in more peaceful games and/or low territorial count games, ones where estimation and efficiency are key. Almost never during my games am I explicitly considering points, so against stronger, slower styles I often feel lost (even if they repeatedly hand me sente). What is a good way to focus on this skill? I don't want to practice counting. I would honestly rather lose than need to count lol, and I feel like I'm not at the level where that's remotely necessary yet.