Touch the front of your tongue to the roof of your mouth, then release into a 'sh' position. Flare your lips.

Americans pronounce cheered as CHEERD (/tʃɪrd/). You'll hear it in sentences like "The crowd cheered loudly when the home team scored" or "He cheered for the underdog to win the boxing match" — more examples below.
Record yourself saying "cheered" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 3 sounds. Explore each sound's mouth shape and how it's made.
Touch the front of your tongue to the roof of your mouth, then release into a 'sh' position. Flare your lips.

Start with the high 'ih' position. Pull the tongue back and up while flaring the lips slightly.
Touch the tip of your tongue to the roof of your mouth just behind your teeth. Add vocal cord vibration as you release.

Click any sentence to see the full breakdown — every link, every reduction, every flap-T.
The textbook way isn't wrong — it's just not how anyone actually says it.
In "cheered", the "d" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.