Sorry, I haven't checked in here in quite a while. The way I learned it was to use a (preferably glass, e.g., Pyrex) developing tray propped up on something so it's at an angle. The developer is poured into the bottom of the tray, and brushed gently onto the upper part of the tray. The print is then placed on the upper part of the tray, and tends to stay there because of the wet glass; you then brush the developer from the pool at the bottom onto the print using something like a wad of cotton wool. Keep doing this, concentrating your brushing onto the areas that seem to need more density until you either get the density you're looking for, or you decide you need to punch it up a bit with a few drops of silver nitrate.
The silver nitrate is added to the pool of developer (i.e., not directly on the print!) in a quantity on the order of a drop or two. Then you brush gently only the parts of the print you need to build the density in. Brush more developer on, building density as you go. You can repeat the addition of a couple drops of silver nitrate if you like, but go easy with it in order to avoid the kind of fogginess you describe.
I do not claim to be an expert at this technique by any stretch, but it does seem to work for me. At least, it works well enough that I'm persuaded that with practice my results would continue to improve.
It is probably time for me to get back to this; I was off chasing other pursuits since last spring (2021) and I'm only now getting back to making dry plates and printing from them again...
As for the previous question about citric acid: Ned pretty much has it, as I recall it. I'll look in my notes to see what amounts I used, but I think it was about as he said.
Robert