As long as the imput motions are the same. I think the brain adapts well between the two. It is true that you don't get exactly the same cues from the sim as a real car. Generally you get less, so it is harder in a sense. It teaches you to drive through mistakes, where to look and how to react, even if the cue that triggered the reaction was limited compared to those you get on track.
To those who haven't tried a real sim I highly recommend you find someone who races one and give it a go. iRacing is generally considered the most realistic and serious. Many professionals use it to learn new tracks and to compete online.
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