When my brother and I were growing up, we both got into two different types of simulators. Our uncle gave him a flight yoke and Flight Simulator 9, and I had various steering wheels up to the Logitech G25/7 wheels and played various games, Need for Speed Shift being my go-to.
His simulated flying got him accustomed to not just the flying portion, but the plane and engine management, and gave him a head start when he went to college for it where he graduated with honours. He's been an actual pilot for the last 6 years or so, and was recently promoted to Captain in his current airline.
My use of simulation-grade steering helped me when it came time to learning how to drive. I was ahead of the curve as I was already very familiar with ~900 degrees of steering play, and I picked up learning how to drive stick very easily; I didn't stall the first time I attempted to move the car, and I had rarely stalled over the next couple months as I became proficient at it. My Mazdaspeed 3 has a heavy clutch and, considering the cars I've driven over the years (including a buddy's 2017 Ford Mustang with a paper-like clutch and overall video-gamey feel), is seemingly difficult to drive.
I'd say that, in our experience, off-the-shelf simulators were definitely a great start.