Learn to view the battle from the unit level to see what they can see. The whole map is visible to the player but only pieces are to each unit. Learn to see what they can see and make decisions as if you were them.
That sounds good but I am struggling to get it right in my games.
Go slow! You have time to find them, fix them, flank them and finish them...
Play other humans! The experiences will vary greatly.
Bobo