I used to be in the same boat as you a couple of years ago with depth, and now I can bury pretty much anything i squat. Keep doing the squat stretches daily and focusing on the form cues after un-racking. Squatting 2X per week will also help get the practice in.
One really cool benefit to squatting deep is that I don't have to do much Hammy work, as my hammies have doubled in size from deep squatting.
I was called on depth in Nov of 2012 at a World WPC Meet in Vegas on my opener. I had to bury my next attempt at 375, and I sank it, despite an injury to my right quad. I then proceeded to sink a 405. Ever since beong called on that opener, I have sank every squat since. It's devastating to be called on depth at a meet. It feels like a big waste and i found it embarrassing to some degree. At every meet since, I have seen countless guys get red lighted at meets for lack of depth. I, for the life of me, cannot understand why they don't learn depth. perhaps a bit of ego sets in.
Point is, is that depth, and consistency at it, is worth learning, and will ensure you enjoy squatting for a very long time.