travel and rhum

I know this probably sounds dumb but sometimes I feel like there are true hikers and then me. I've been on a fair amount of hikes in different states but never usually long hikes or difficult hikes. I tend to really struggle when going uphill for a long time but otherwise I feel I have good endurance. I've done a lot of moderate hikes but I really want to eventually do difficult hikes like the half dome which I know is super hard but I love nature and so hikes like that have been a dream. I don't want to miss out because I can't keep up. So idk, how does one get better at hiking? Do you just keep hiking or are there tips or tricks? Lol.