Anyone who grew up in the skatepark/terrain park knows the experience of learning new tricks and progression. It's thousands of falls building up the muscle memory to land the trick. Over time, it just sticks (or you hurt yourself bad enough you quit).
Cant really do this when you're old. It just takes less to cause damage, unless you're in excellent shape from doing active and dynamic movements over years of work.
Now to try and be helpful - Martial arts, wrestling and doing low weight dynamic movement exercises will help you train. Also, if you want your whole body to be sore, pick up a skateboard, strap as many pads as possible, and go learn how to ride a bowl at your local skatepark. Guaranteed you'll get lots of fall practice :)
I used to ride a racing bike to work and had to slam the brakes on suddenly once when an idiot in a car suddenly turned in front of me. I went over the handlebars, but instinctively did a forward somersault/roll and was pretty much unhurt except a slight graze. It happened so fast that I have no idea how I did it. In the air I must have recognized that my body was spinning and I just tucked into it until I was the right way up again.
So I think the answer is just practice. Do silly shit until you learn how to land it. A foam pit makes it less painful. :-)
As a martial arts instructor, here's my advice: The first month or so of aikido classes is a great way to learn rolling. Start on your knees, on a padded floor, arc your arms/"hold a ball", & practice rolling diagonally (eg right shoulder to left hip, etc)
1. Keep arms in a curve: the arms pattern your fall, rather that 'push the ground' 2. Point your nose into your armpit. Don't let your head touch the ground 3. Protect your clavicles. Super easy to break, especially if you hit the ground with a stiff arm. Clavicles take MUCH longer the heal than wrists, & hurt worse too 4. DON'T learn rolling from gymnastics, if your goal is to survive crashes on concrete. Gymnasts practice on thick padded floors & don't mind that their head touches the floor. Bad idea when there's no padded floor.
That said, broken collar-bones (along with separated shoulders) are one of the most common serious cycling injury. I’m one of the very few of my friends who hasn’t broken one. And several friends have broken or separated each shoulder multiple times.
I’ve mildly separated both shoulders a few times over the years. Thankfully no major separations or breaks - just some MRIs and PT (plus a few concussions). I did break my forearm when I was 5 - fell jumping a fence, reached out, and snap. Classic broken arm.
When I started long boarding at ~38, I practiced throwing myself into a roll first from a crouch, then standing, then standing on the board - onto grass of course. It helped a lot when I did inevitably have unplanned falls on the pavement.
Judo and skiing taught me how to fall. It's easier if you start young because you have less distance to fall.