Hi Gabriel, I'm a certified English Teacher with 8 years' experience, and I can tell you there is no exact way to learn (or teach) phrasal verbs, other than memorise them! It's very frustrating and pretty much all students feel exactly the same way as you, so don't worry. I recommend looking up phrasal verbs related to specific everyday topics, such as 'travel', 'sport' or 'work meetings' and memorise a few which seem the most useful to you. This is how I teach them to my students and they've told me it's really helpful!