bar chords pretty well, I almost never play them. Maybe it's because I write many of the songs I play and I subconsciously just never write bar chords..

I also do what fulano said and transpose a song into a different key to be able to play it with regular chords and then transpose it back to the original key with a capo when necessary.

If you do want to get good at bar chords, find a simple bar chord progression and make it your go to chord progression every time you pick up the guitar. I have one that kind of sounds like an island song where I alternate the finger pressure full/muted/full etc which helps build the muscle and makes it so I can play longer. Something like that should help you to not have sustained finger pressure for long and get better sound, or at least have a bit more fun doing it.