Two low-risk and cheap ways to develop relevant driving skills are bumper cars[0] and go-karts[1]. This may appear to be silly at first, but both involve the same hand-eye coordination and decision skills of vehicular driving (though the latter is no where nearly as fun as the others).
On a bike, this mostly reduces pedaling; in a car this can reduce unnecessary braking, safer driving distances, which make you a more predictable driver.
I believe 100% that nobody should be allowed behind the wheel of a motor vehicle before obtaining cycling proficiency.
A unique simulation bumper cars can provide is in collision avoidance and real-time steering/acceleration/braking skills. The value of this is relative and dependent upon a person using time in a bumper car with intent to hone driving skills.
In the park, I made it a hard point not to ride the bumper cars because I thought it would mess with my muscle-memory as the designated driver. If not for that, I really love bumper cars. However, I've found that responsiveness of bumper cars vary a lot per park; it either depends on the maintenance or the maker of the rides. And IME, none of them are really comparable to even the shittiest cars I've driven (e.g., the ones from the driving school, the assigned car for my license test).
But my bigger concern that day was the fact that the bumper car mindset is not the roadcar driver mindset. For learners, the free-for-all chaotic nature of the track is not even a good simulation! Not even if you're driving somewhere like India or China.
Speaking of simulation, I really want an affordable but legit way to practice dealing with outlier driving scenarios. Like, what if my brake fails in the highway, what if I get a flat while doing 100KPH---stuff even the safest, most defensive drivers can't entirely rule out. Anyone know of games that might fit the bill?