Hello pillar,
First off, I assure you that all of this gets much easier with practice

Similar to streak, when tackling a new lock I insert a straight pick (like a half diamond) right to the back of the cylinder and then count the pins as I draw it forward, which establishes what I'm dealing with but also confirms all the pins are moving and not seized. If it's a tight or difficult keyway I will practice pushing each pin a few times up and down. You can start from either the back or front of the lock when practicing, counting pins, and picking - however, when starting out stick to one or the other until it becomes second nature.
There's a neat little aid to picking called the 'pencil trick', which really helped me to locate the individual pins within a lock. You can find it described and illustrated very well in the LSI Lockpicking guide, page 8. Some excelling information in there for new pickers as well:
http://locksport.com/files/5012/6964/4049/liguide.pdfThe only drawback to this technique is that you are using a visual marker on the side of the pick to locate the pins. Once you get the hang of it, start to look to the marks less and less and eventually just remove the pencil marks and go strictly by feel.
You mentioned feeling the sides of the pins to locate them - this may be useful in locks with wider keyways but you won't have much room to maneuver once you start tackling tight and/or paracentric keyways - instead try and find the tips of the pins. I do think the goal should be using your picks by feel - however, not so much as to disregard different techniques for training purposes. This so-called feel will come in time as you develop your skills - don't fret too much about it at the outset.
If you haven't found them already, check out some of Bosnianbill's youtube videos, which can be a very helpful source of information as you progress. Here's a link to his 'beginner lockpicking' playlist of videos:
https://www.youtube.com/playlist?list=PLTSWkYxuSlkXiSBwk3Hvbvx71sg-MH61sKind regards,
Sean