I think one important part of the question that is fascinating is the “how do I study them”?
Study does not mean memorize, it means “understand why they are the way they are”.
As far as I can see, the only way is to explore what happens if you do differently.
However, this is a very challenging task, because it can be quite subtle why the outcome of a given joseki is better than some other outcome.
It’s literally the experience of hundreds of experts over maybe as many years that has lead to the collective conclusion that this is the best that can be done.
In that context, how to study the “why” of this seems daunting. I’d love to find some analysis of this, if someone knows where such is, or felt like doing it