When I was in my early- to mid-teens, I learned to drive on an arcade game at the mall called Stunt Hard Drivin'. The graphics were blocky, but the arcade setup had 3 pedals, a gear shift, and a steering wheel all with force feedback, and the manual transmission mode was pretty realistic -- grinding, stalling, jerking, everything. It really helped me later, when I had to learn how to drive my first car (also a manual)manual)
Here is a link to the Wikipedia article on the series: http://en.wikipedia.org/wiki/Hard_Drivin'