Kangaroo does get a bit chewy when it is cooked too long but I find that it is still OK when it is cooked a bit longer.

I also find that it softens up a bit if you leave it to rest for about 10 minutes after cooking (but DH always eats his straight away because he can't possibly wait that long )

I assume you are talking steaks? Maybe you could cut it up and stirfry it or similar so that it didn't take as long to cook through and so the outside wouldn't be as tough. Or slice them in half long ways so that each of you get two steaks that cook twice as fast.

Also, you need to use a little more lubrication in the pan because there is very little fat in the meat so it can stick really easily.

HTH