I used to struggle with Mahler until I bought a CD of one of Mahler's symphonies years ago. It came with a second CD that was narrated by Leonard Bernstein. It helped me understand what was going on. I was used to a certain form with classical symphonies. I had to throw that whole structure out when listening to Mahler. I've been a fan ever since.
Here's a deeper dive with Bernstein that might give a better understanding as well.
If nothing else, just listening to Berstein describe anything is a joy.