My history comes from the dirt a long time ago. When I made the move to get back into what I do now, street and highway, after getting my bike, I took it to a big church parking lot on weekday evening. Find one of those big ones. Huge areas, with several streets built into it, nobody around. And just practice. Go round and round one direction for awhile, then change and go the other. Go down isles, imagining there are cars all over the place, and practice some maneuvers to quickly get around one. You can use painted lines to create your own course. You can take some small boxes and set them around places. Imagine one as a pothole you need to steer around. Imagine another as something else. Pick lightweight enough boxes that if you ruin over them it won't matter. Put a rock in them if they tend to blow away. We also have a large baseball park with several roads and speed bumps built into it. I would go there on days that nobody was around and just use the park roads as regular streets and practice riding all around them.