I learned how to touch type in middle school with school software like Mario teaches typing and Mavis beacon. I peaked around 80wpm and I was faster than 90% of my classmates.

A few years ago I invested in a rectilinear split keyboard which has a slightly different layout, but much more ergonomic. But interestingly I can now type 120wpm+.

I think touch typing is very similar to learning penmanship (and I guess cursive to an extent). If I followed the exact rules I learned about handwriting in school, I'd have much more legible handwriting but I'd write so much more slowly. Instead I my own way, which lets me get my thoughts out quickly, albeit not as neat as "correct" penmanship. Fortunately typing is much more lenient on this front.