Endgame Practice?

I've read books about the endgame and learned about it but is there a good way to get actual endgame experience? Is it just to play games? The problem is that there aren't many endgames when I play but when there are I'm in time pressure and I can't remember all of the little rules in time. Maybe the better are at it, the easier you remember the rules? Do you play blitz games for experience there?

Ok, but how exactly could we do that? Set up a position ourselves maybe?

When endgame ideas are properly embedded in your skull, you don't need to remember the rules, you will play perfect chess instantaneously and without thought.

You guys can play live chess..

or online chess with moveback options

For me, in a recent tournament game I know that if I had plenty of time on my clock I could recall what to do. So I've learned the rules at some point but I have to really think about them to recall them in a game. But some kind of practice would probably help besisdes just studying harder.

Setting up is good, but I don't know if you can have games with a setup position here.

Yeah, that's the book I use. But there aren't many positions with lots of pawns, usually just one or two. Those are the building blocks I know, but still I'm not getting much practice in more likely rook endgames or any for that matter but rook endgames are by far the toughest or at least most common.