Intuitively I would have assumed that this would be really difficult to do, but the tools OSM provides for editing are actually quite easy to use even for people with no clue like myself.
You don't even require accurate GPS hardware or anything. Knowledge of your surroundings combined with the (blurry, but available none the less) satellite imagery might already be enough for you to really do good.
In my case, I've added building numbers of my neighborhood, marked one-way roads, added a few gravel foot paths where they were missing and I knew where there because I walk on them on my commute and so on. All this required zero hardware nor actual knowledge in map making (also: The changes are still in unaltered, so I assume they weren't all bad).
Using a cheap GPS tracker and a bike I furthermore added a few small lakes and a small creek close to where I live. The GPS tracker was very helpful as the satellite imagery was (understandably) just showing forest, but biking around the lake a few times was really helpful in giving me the correct measurements.
All this was both a lot of fun and absolutely trivial to do. I highly recommend that you give this a shot on your end. I'm a person with zero experience in map making and yet I could easily contribute my part and I had an absolute blast doing it.
Also, if you are good with directions, this isn't limited to the places you live now - I've also added a lot of detail to the map around the place where I went to elementary school (yes. The environment has changed a bit, but that was a great opportunity to visit the place again).
Contributing to OSM is a very pleasant and fun experience.