A lot of 'getting better at TDD' is just getting better at listening to yourself. When I started programming the little anxieties would pile up until I'd painted myself into a corner. With experience I pay more attention to the little anxieties.
The secondary effect: after some time doing TDD I feel less anxious just knowing that I can write a test if I want. The benefit of the tests as an artifact is secondary to me; what they primarily do is keep me from getting stressed and giving up to go play poker.
Writing tests becomes more important when you're part of a team. Your
choices affect not just your anxiety but that of your teammates. That's why
it's reasonable to be more dogmatic about TDD in a team.