RSA guidance (pdf) is clear that you should practice driving as much as possible on all types of roads and in all types of traffic situations with an ADI before arranging a test.

You have to apply for your first learner driver permit in person to one of the NDLS centres - see 'How do I apply for a learner permit?

Our instructors will tailor the lessons to your skill level and provide you with the necessary training to become a proficient minibus driver.

However, you need to make sure your car covers the driving lessons.