How do I stop over-palatalizing 'd, t, n, l' when speaking?

I record myself daily reviewing basic Slovak phrases, but I’ve noticed I’m treating 'd, t, n, l' like they are always followed by an 'i' or 'e'. My 'ď, ť, ň, ľ' sounds are way too aggressive, and it’s making me sound like I’m speaking with a lisp rather than just having a non-native accent. Are there any specific tongue-placement exercises for these soft consonants?