Want to learn to drive

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^ I am fairly lucky in that I have a pretty good autopilot. Sometimes I come back to reality and wonder how I got from A to B or wonder how I completed x,y or z task while on autopilot. One thing I learned the hard way early in life after having a motorcycle accident is just how focused you need to be to drive safely. With a motorcycle you must drive for everyone else on the road and drive defensively because people either don't see you or don't see you as a threat, so they tend to pull out in front of you or into your lane and you must avoid and be aware of the traffic around you at all times.

isn't that high level of vigilance extra-tiring?

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.