The number one skill in learning to draw is learning to see properly. The vast majority of non-artistic people look at things without ever really seeing them. A classic example can be found on Gianluca Gimini's Velocipedia project:
https://www.gianlucagimini.it/portfolio-item/velocipedia/
Here's a another example:
https://www.boredpanda.com/famous-brand-logos-drawn-from-mem...
Mechanically filling a page with shapes or following some idiotic 'how to draw a...' tutorial on YouTube will only teach you how to fill a page with shapes or make a bad copy of someone else's bad drawing. Learning to really look at things and attempting to put down what you see [as opposed to what you thought the item looked like before you actually studied it] is a far far more useful exercise.
I take your point that this article might provide some useful exercises for loosening up your doodling technique, to people who find it awkward to manipulate a pen or pencil freely. But calling it 'learning to draw' is as hyperbolic as calling some warm-up stretches 'learning to run a marathon'.