Round your lips into a tight circle. Lift the back of your tongue toward the soft palate and add voice.

Americans pronounce worst as WURST (/wɜrst/). You'll hear it in sentences like "Serve the worst person the worst burger".
Record yourself saying "worst" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 4 sounds. Explore each sound's mouth shape and how it's made.
Round your lips into a tight circle. Lift the back of your tongue toward the soft palate and add voice.

Flare your lips and push them away from the face. Lift the middle of your tongue toward the roof of the mouth.

Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

The textbook way isn't wrong — it's just not how anyone actually says it.
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.