Certainly true for Sturmey-Archer. If you try to upshift under load, you'll feel the cable resisting. If you downshift under load, it'll wait to shift until you back off on the pedals just a bit.

Compensating for both things becomes a habit. Likewise, remembering not to shift at a stoplight becomes a habit with derailleurs. You reach a point where you begin to think like your bike.

Given that I'm a casual cyclist on a non-sporty bike, I just live with the slight awkwardness when I'm halfway up a hill and realize that I chose the wrong gear.