https://www.empathiceurope.com/ has free courses/trainings on empathic listening skills.

Spend some time on that website, see what you can dig up on specific skills, and then test using them in real life.

That site skews heavily towards therapists, and has a lot of woo-woo. It is clearly not THE answer.

But it is A answer. Enough to give you a framework to get started.