My driving instructor was very stressful (lots of yelling at me and other drivers), but given the sheer amount of bad drivers on the road these days it ended up being helpful - when "stressed out" is the baseline when you're driving, you either break and find a different instructor or unlearn the stress response and stay calm while driving.

I've narrowly avoided several accidents caused by other drivers (running red lights at intersections, changing lanes without looking and nearly running me off the road, road rage, etc.) which I partly attribute to being able to stay calm and make the right decisions to avoid an accident.