If you're interested in motorsports, Going Faster! From Skip Barber is how I learned to drive.
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Nah, not really interested in motorsports. More about the physics of driving and how that comes up when driving on a road. For example, the "How to Drive" book I mentioned goes into detail about how your weight shifts as you accelerate and decelerate and tells you how to take that into account as you are turning.
I want to improve my mental model about what the car is doing.
Maybe Apex, written by I don't know, but it was bundled with Gran Turismo 5 and maybe 6 collector editions
edit: don't know if I can provide links, but if you search "gran turismo apex book pdf" one of the first results is on archive org, and it's just called gt5apex