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You don't have to 'memorize commands' in the same way that, when learning a language like French, you don't have to memorise words and phrases. But it certainly helps, a lot. Learning how you learn best, immersing yourself, and finding learning/doing patterns so that the memories and muscle memory slowly infuse in is what you need. You don't do rote memorisation like Victorian-era times-tables. But on the other hand, like learning to speak French or German or whatever, of learning a musical instrument, fluency comes from eventually having in memory the commands and general intuition for how stuff works. But the memories come through repeatedly doing stuff, not abstract rote memorisation.

A general learning philosophy: The 'refine down' approach. First time you face a task, have a guess (don't be surprised if you don't succeed, but do have a brief go at completing the task without external reference -- this tells you 'where you are on your journey'). Then look things up. Don't immediately do things you read*, but rather take notes. Then try to complete the task using only your knowledge, intuition and the notes you've taken. Repeat this step until you have enough details in your notes. Then the second stage of refinement is to start with nothing to refer to, and seeing what has infused into your memory and intuition. Then refer back to your original notes and make a second, condensed set of notes, telling you just enough to recall what you need. Next try to do things from memory, and only when you need to do you refer back to your condensed notes, and then if that fails, go back to your original notes and refine those condensed notes. You can then do a third round of super-condensed notes. Use something like Obsidian as a knowledge base. (My current system is something I wrote myself in PHP, for example https://l.allsup.co/fra is where I'm putting notes as I revise my Français, and similarly https://l.allsup.co/deu for notes on German — the long term aim is something akin to Obsidian, but online, and such that I know how everything works, hence writing my own system and eating my own dogfood.)

*This is like when using menus and the mouse to accomplish tasks — if you see keyboard shortcuts in a menu, don't click on the menu item, but rather exit out of the menu and use the keyboard shortcut. The long term aim is to be able to accomplish a task with the least effort possible. The result is an efficiency that can seem magical to the untrained eye, but ultimately comes from eliminating needless repetition and effort.