1/ Scale focusing by feel (SFxF) is a quintessential strength of 35mm rangefinder cameras. All you do is associate how far away (roughly) something is with how much (roughly) you pull the tab. If you want to get the most out of a Leica, read on. #believeinfilm#shootfilmbenice
2/ You don't need to learn to guess how many feet an object is from you before you learn how to SFxF (it's irrelevant, though you'll get a feel for it anyway). You just need to look at how far away things are, physically, not numerically.
3/ Then you link that physical distance to the physical amount that you should pull the focusing tab. There are only a handful of distances that you really need, maybe 6-8: scenes, full-length portrait, 3/4 length, 1/2 length, or whatever (2x for horizontal and vertical).
4/ SFxF is feasible on lenses without focusing tabs, including SLR lenses, if the focusing throw is around 90° (tabbed RF lenses are best ~120°). Ironically, autofocus SLR lenses tend to have suitably short focus throws more often than manual focus SLR lenses.
5/ SFxF is an old method used since the first Leica with a tabbed lens. Scale focusing in general was widespread even in the 1960s. It's easy to do for most photos and situations, even necessary for press photography, and a lot of beginners cameras had scale focus lenses.
6/ Many classic cameras are cheap and undervalued as users because most people today are intimidated by cameras that only have scale focus. Take advantage of the situation! It won't last forever.
7/ Forgot to mention the importance of holding the camera right, the thing that prompted this thread. You need a fixed frame of reference to pull focus consistently.