I learned next-level defensive driving by bicycle commuting to work 5.5 miles each way on busy roads in rush hour traffic. On a bicycle you're invisible, and if you expect any less, you're going to get hurt. As it was, I had some very very close calls- at least one of them had the potential to be fatal. Ironically, the only time I ever crashed was my own fault.

But now even when in a car, I retain that "I'm invisible" mentality, which makes me much more aware of what other drivers are doing, and much more skeptical of their ability to make good decisions. This has saved me several times.