I had to stop and think about how I learned it a few hundred years ago. IIRC, it was just a matter of knowing what notes make up chords and identifying them in the various forms. With an open E major chord shape, for example, you have E,B,E,G,B,E, low to high, or Root, 5th, root, 3rd, 5th, root. That pattern stays the same for E shaped barre chords as you move up the neck, so it's just a simple matter of identifying the intervals with the notes from that chord. Sooner or latter the patterns start to make sense and you can easily identify the surrounding notes.
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