Hi Shazia.
Holding or handling T's can be fun, but there is always the problem with urticating hair making you swell up and itch, getting bitten, accidentally dropping the T so that the T loses a leg or two or the abdomen goes 'splat' on the floor, the T escaping and so on. Plus there is absolutely nothing in it for the spider. Absolutely no benefit. Zilch.
Nothing wrong with not handling your spiders. Loads of keepers don't unless it is absolutely necessary.
But if you absolutely have to, accept the fact that you might be bitten as part of the process and keep in mind that slings will bolt. You're not doing anything wrong. They're skittish and they just have to. Larger spider are more chill so it is easier with them.
Do it on the floor, or on the bed. Some place where the T won't get hurt if it does fall. Make sure there is enough space for you to react and retrieve the T if it does decide to make a run for it. Coax the T out of its little hole and onto your hand by gently touching the rear legs. You'll probably destroy the little burrow but that's ok.
Don't rush, don't be pushy and remember to breathe, but not on the spider. That will make it bolt for sure. Let the T walk out on its own pace. Slow walking is good. Jerky jumpy running is not so good. The T stopping dead is worst, because it is weighing up options and in less placid species, most of those options don't involve slowly walking.
Be warned that A geniculata will probably attack whatever moves in its enclosure because it is single minded and thinks it is prey. Rosea and Vagans will flap around a bit but should settle.
And that's my R 0.02 Good luck!
I'm not impossible. I'm being improbable.