It does, but you have to be intentional about recognizing the deficits, similar to how you can only get so much takeoff + landing training from a flight sim, and too much is detrimental. A quality FF setup + good pedals makes a massive difference on practicing good road-feel response into your brain. VR steps it up further with the full visual experience and helps with yaw angle management.
https://dirtfish.com/rally/robert-reid-virtual-rally-safety/
Good in an FWD car, but this could kill you if you're driving RWD - lift-off oversteer is a common thing, so you really want to _reduce_ throttle input without completely cutting it.
Chances of you driving anything today without ESC/DSC/etc (whatever your manufacturer labeled it) on really rare too unless you decided to turn it off, especially if it's only driving the rears. ESC is incredibly effective even on 20 year old cars.
I’ve unfortunately been in several cars where driver has lost control and avoided an accident - most drivers in my experience can counter the scenario you describe intuitively - steer opposite way of slide, lift off gas to correct etc, just feels natural if you have driven a car even a small period of time.
Other’s mileage may vary of course!