Different things to gain an intuition for:
- Getting used to being in the driver's seat. Getting used to where everything is. Especially the turn signals (shoutout to my fellow BMW drivers).
- Getting used to acceleration, braking, holding your speed, steering, and turn signals.
- Getting used to the size of your car, it's outer edges, turning radius.
- Getting used to going in reverse.
- Driving in the neighborhoods vs. driving on the highway.
- Constantly being aware of all moving objects around you.
Do lots of driving. Check your mirrors all the time, even if you're not planning to change lanes. Keep enough distance from the person in front of you that you'll be able to react in time to anything they do. Use your turn signals - be as predictable as you can.
Driving on public roads is more like dancing in a group than racing. Going where you want, slowing down and speeding up - all need to be done in concert with everyone else on the dance floor in order avoid collisions.
With practice, driving will feel as natural as walking or running.