Getting back to the original question, I have learned it, and I can tell you it never, ever gets easy. But I'm not a professional soloist (I'm a professional accompanist and an amateur soloist), so don't take my word for it. Instead, consider Alfred Brendel's delight when he left the stage after his last performance of the piece, knowing he would never have to climb that mountain in public again. I don't know Brendel personally, but a mutual friend told me he felt as if a great weight had been taken off his shoulders - or words very much to that effect.
But it's very rewarding to work on, nevertheless.