With すspecifically I remembered it by saying that those move すmthing else. Even the ある える one has exceptions, and there are ones that fit neither pattern. I mostly don’t bother and skip if I’m really not in the mood for them and I hope that actual exposure will help me, as it did with rise and raise
The way I learned transitive/intransitive in general is like this: is the verb acting up an object, or talking about moving in some direction? 食べる is transitive because you have to eat an object, but 入る、 なる、 these are intransitive because you are entering or becoming towards something. That might not be helpful in your case though.
I’m not sure I’ve ever seen a verb pair where one is ~ある and one is ~える that doesn’t follow this rule. There are verbs ending in ~ある that are transitive, but that doesn’t break the rule unless it’s part of a pair.