You're doing all the right things already. The hands take time. It sounds
like they're very active out the gate, what time of day are you bringing them out? Before their normal wake-up time or right before they head to the pouch to sleep for the day will have them at lower energy levels.
In general, I'd recommend letting them have their run of the tent & come to you on their terms. Mine started gradually using me as a quick springboard, but eventually came around to wanting more 'tree time' on me. Keep the treats handy & only give them when they come to you would be my best tip as you want them to associate the action of being on you with the treat, not just you being around.