> The problem is when drivers enter in the left/inner lane, fully intending to take the first exit. If they proceed to exit directly from the inner lane, without first changing lanes, signalling, or yielding to outer traffic

Yes, in that case a driver not understanding the rules of the road (that you can't take the first exit from the inner lane, which is usually clearly signed) could cause an accident. The exact same way turning right from the left lane in a signalized intersection can cause an accident. The question is, what's the damage of an ignorant driver and how fast do people learn? The research indicates that right-of-way incursions in a roundabout result in dramatically fewer injuries than right-of-way incursions at other types of intersections, and the research also indicates that contrary to your belief, drivers actually do learn how to use them.