When reading Merleau-Ponty it might help to also read the work of contemporary phenomenologists whose work is much more rooted in cognitive science and neuroscience. A decent example is Shaun Gallagher's book How the Body Shapes the Mind, or perhaps his introductory book on naturalistic phenomenology, which I haven't read. Gallagher has a more or less Merleau-Pontyesque view on a lot of stuff, but explicitly connects it to the naturalistic program and expresses things in a much clearer manner. It might help you read Merleau-Ponty sympathetically.