> As a hobbyist I found hardware to be quite impenetrable, given the hard mathematics and physics requirements.

IMO there aren't any. It's mostly about reading datasheets, and connecting pins to each other IOC those datasheets.

Maybe the physics and mathematics are more important for analog electronics or designing ASICS?

Do you have any specific projects you'd like to build? Post here and we can talk through it. And/or start by downloading KiCAD and clicking around until you understand the UI.

The programming side is mainly also reading datasheets. Instead of connecting the right pins together, you are writing a certain value to a register, as described in tables.