Listen to John Danaher (world famous BJJ coach interviewed by Lex Fridman). He talks about that the greatest fighters pick their battles very well, and they often get submitted in the gym because they intentionally put themselves in handicapped positions so that they can learn how to get out (and sometimes that doesn't work out, of course). So life situations where stakes are not high should be used to run high-risk…
I love watching ragged edge hill climb segments or peak performance downhill mountain biking runs, they're this weird blend of composure and moments of recovery, and you can see them pushing through each small mistake fearlessly, as they're so familiar with them.