Play is how mammals learn
The best way to learn is to play.
In order to play, you need to feel safe. You need to have time. The consequences of failure must be real but not lasting. The consequences of success, likewise, must be real but short lived.
Play can happen by yourself or with others. If playing with others, you need to trust them, because you need to feel safe in order to play.
To play well, we must throw ourselves into the scenario or game. That requires focus, attention, and dedicated time.
There must be a sense of abundance, or at least the freedom to "misuse" valuable resources. Time might be short, or resources tight, but you need to grant yourself a cheeky sort of permission, a license to be naughty, in order to actually play.