anything will be fine, most modern cars have a hydraulic clutch, so they are not bad….
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when you are looking for a car, the more modern the car the eaiser it is to learn due to advances with a hydralic clutch. I first learned on a 2003 Acura Rsx after that i got a 1993 ford mustang gt and when i started driving that it was difficult the point in which the clutch engages will be different for every car so when looking for a car it really doesn’t matter cause all clutches will be different and recommended car would be the RSX it took a couple of days for me to learn ther main stuff.
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There are some driving schools that will teach you since you have your license a few sessions would work. As for your first car driving your dad’s Highlander is a good car to start because it is bigger and safer and you learn how to manuver it. Small sub compact cars do not hold up in a wreck. A Civic in particular would easily wedge under a SUV or 4×4 with nothing to protect you. Another route would be find a beat up car with a manual trans for $100-200 and drive it around until you get the hang of it. If it breaks sell it to the junk yard as new drivers are hard on clutches.