Want to learn to drive

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There is a non-tiring, calm vigilance. It works by conscious effort to find the possible obstacles as a game, rather than out of fear. When you see them early, they are not scary.
I am a safer driver when I'm constantly dodging even minor pavement breaks, etc. to keep interested than if I'm on autopilot, thinking of something else but still reacting to keep in my lane, but when I do that, peripheral vision will pick up on brake lights, etc.

I imagine biking around lots of traffic must be a lot like driving a motorcycle wherein you really need to be aware of what is going on all around you. Certainly makes you a better driver.

Riding a bicycle is simpler, and everything happens slower, so that helps for learning. They are trickier to handle at speed on bumps, though. Some skill-building is needed. Some people remain semi-pedestrians, but an aspiring driver should learn to use their mirror, and merge left into the proper lane for left turns, and learn when to "take a lane" in traffic. Don't delay people unnecessarily, but don't let them pass where it is not safe.