I started hovering in 1973, and found no great difficulty with it, as long as the ailerons had lots of chord and travel, and extended in nearly to the sides of the fuselage, and the rudder and elevators were large with lots of throw, AND you have at least 30% more static thrust than weight. Low pitched props deliver more hovering thrust in relation to torque, enabling the ailerons to more easily counteract engine torque.

One trick I like to use is to increase aileron chord in their inner portion that is swept by the propwash. Coupled flaperons also help - when I lose it in hover, it is usually in the pitch axis. Have never tried gyros, bit think that they would be a great help. I found that hovering tended to get old fast, and have never spent a lot of time at it, except when I was working out design details of a tail-standing vertical landing and takeoff model that has not as yet been built.