Well, I can’t say much that hasn’t already been said. I shoot instinctively, but I’d have to say it’s more of an ingrained thing. Practice, practice, practice…
I know a lot of people might disagree, but it is really like throwing a ball or shooting a basketball. You have to start close and as you get more consistent move back. I like to practice a lot at longer ranges because it helps my mind understand the arc of the arrow. This helps a lot with unknown distances for me. I kind of shoot on the arc, you might say. On longer shots I can visualize the arc and adjust accordingly.
Don’t forget that form and proper arrow tune can’t be ignored. If the form isn’t there nothing will work consistently and you’ll constantly be frustrated. If the arrows aren’t spined right for the bow, grouping will be inconsistent and equally maddening. I hope this helps a little.