Your machine can make quite a difference too. I was a marginally ok free motion quilter on my Viking. It was stressful and a chore and I ripped out a lot, but I could do it, with gritted teeth.
When I got a Bernina w/ BSR, it was so much easier and more pleasant, and my results were dramatically better, which meant that I did it much more, (aka practice) -- so it's a cycle of improvement.
While Pfaffs are great machines, particularly for precise piecing, they probably are not the most free motion friendly. This is entirely my own biased opinion, and doubtless many world famous free motion quilters will now disagree with me. But if you find free motion work very frustrating, consider trying a different machine-- swap with a friend, try out a demo or rent a store model.
RST