In order to effortlessly transition chords you need to do 3 things:

1) Change your mindset on guitar chord fingerings. There usually is more than one way to finger a chord and you’ll need to memorize the common ones. These alternate fingerings help you with the next part which is…

2) Understand that it’s these alternate fingerings of chords that allow you to switch chords with the least amount of finger movement. That’s the trick to chord changes.

3) Taking a few minutes to observe a given chord progression you’re working on. Now you can strategically choose the appropriate chord fingerings for maximum efficiency of movement. Orville gives a few examples in the video.