Practice, practice practice. I don't think there are any real "tricks."
although it's not on here anymore my serial Bright Morn of Issareth now has three Volumes (working on the 4th) and as I was writing the third I realized that my writing was getting better, which makes me want to go back into 1 and 2, lol.
but really, practice. And read, both good and bad novels. Good so you learn what's good and bad so you learn what to avoid.
If you like reading books about writing I like J. Michael Straczinsky's work. (Babylon 5) There are masterclasses online that are relatively inexpensive learning from everyone from Neil Gaiman to Margaret Atwood (Handmaid's Tale).
But, in my opinion, the thing that works the best is: practice. There are no tricks, just write honestly, truthfully, and write real characters. Doesn't matter if the character is a worm being from the planet XX2X, make it real, make it someone your reader can identify with.