Yes! In my case, there was some teaching (drawing and puzzle games and stuff) until I was maybe 3 or 4, the age which my Nmom stops liking children and thus stopped really trying. They taught me how to ride a bike, but that led to a big histrionic fight between the two of them. 

After that, pretty much everything (budgeting, hygiene, social skills, cleaning, dressing, cooking) I taught myself or was taught by well meaning friends. I was also "homeschooled" so I had to teach myself what I should have learned in school as well. 

I can relate with learning to drive! Nmom took me out once when I was 14, acting resentful and angry, like it was this huge burden. She basically shrieked at me the who time about how I'm making all thee mistakes, going to kill us both (empty parking lot) without offering any actual instruction.