I'm still wondering; if dark matter is around us, and maybe everywhere in the universe, and if they are the majority of the matter in the universe, why are scientists having a hard time discovering them?

Dark matter is very illusive. To discover it, it needs to interact with the material making the detector. In the case of dark matter, the rate is very low so that even if there is some amount around us (that is not extremely large by the way, compared with the amount of matter), it is very rare to have even a single interaction with the detector.

An unrelated question here: Is dark energy a form of dark matter?

No. They are two different entities. Dark energy is related to the expansion of the universe. You can see it as the engine behind the accelerated expansion of our universe. In contrast, dark matter is a form of matter.