Finnish is my mother tongue and I have studied Estonian but it was a long time ago. It`s interesting how similar these two languages are. You can read something in Estonian and understand most of it but a word can mean complete different thing than in your own language. For example kannatus means support, approval in Finland but suffering in Estonia. Also Karelian is quite the same kind as Finnish so they can be easily found relatives.
I don`t think Uralic languages are too hard to learn. They are just different than Indo-European languages (sentence structures etc.). And there has always been interaction between Indo-European and Finno-Ugric languages which has had its impact on the vocabulary.