Really, my daughter didn't have much "official" practice with any of those things until she was driving. We live in a typical suburb and although she could walk to the local drugstore and one small shopping center, there wasn't anything else in walking distance. Oh, she could walk to the pool in the summer.
I suppose her only real introduction to some of those issues was being allowed as a preteen to go to the local shopping center (not out local mall) and go from store to store, over to the movie theater, to another part of the shopping center for a dinner with friends, etc. Learning to navigate around the shopping center, deal with store clerks, security guards, etc. gave her some of those skills.
Of course being in school also provides some of that same training. Learning to deal with a variety of teachers and administrators, finding your way from class to class, etc. was good practice.
But, really, she learned all of those things while she was in the car, so I suppose I don't agree with your idea that students must have all of those things down pat before they get behind the wheel of a car.
My daughter has a terrible sense of direction so I gave her a GPS the day she got her license. Still, she asked to go to Panera for dinner the next night and instead of going to the one 8 blocks from our house, she followed the GPS directions for another one that was about 8 miles away near the interstate highway. I got a teary phone call - but she found her way back home eventually and my soup was still warm! We tease her about it now but it was trauamatic at the time.
I don't think anything can really prepare you for getting pulled by a police officer, so we focus on prevention. Don't speed, don't speed, don't speed is the drill at our house.
As far as being late for something, I don't think there is a good way to practice that when you are still being driven by your parents and not independently. Again, I think of that as a learn on the job skill. Along with driving comes the responsibility of getting up early enough to get where you are supposed to be without speeding. The rule at our house is get up in time to leave by quarter to 8 or you don't drive yourself that day.
I guess the point I'm trying to make with all this rambling is that you can't be sure kids will have these skills down pat before you put them behind the wheel, and for me that's not a reason to keep them from driving.
It's not so much having them down pat but having SOME experience with them. It is not possible to have them down pat until you have several years of driving experience but if you have NEVER been allowed out of your yard alone and all of the sudden you have the responsibility for driving a car with NO experience, that is the issue. If you can't walk across the street or walk on a busy street how in the heck are you supposed to know how to drive on one?
edit: Take the skill of learning the timing of when it is ok to enter a street. If you have NEVER had to do this walking-mom always makes that decision for you--imagine trying to learn it driving. Our kids still use "walking" timing, meaning they could pull out a lot sooner then they do, but that comes with experience. I couldn't imagine not having that skill before you drive.

She took Driver's Ed last spring, and will fulfill her 6 months of practice time at the end of October. This 6 months of practice has been very good for her... she has matured a lot, learned a lot, and become much more skilled at many things...i.e. parking.