The best teacher is to watch fast people, watch WR hotlaps, try lots of setups (inferno and online), and practice.
If you study racing in real life the basics should be quite obvious. If you don't know racing in real life I guess you're in for a challenge.
The best way, I find, is to carry a mental picture of your tyre grip in your head, and constantly ask yourself if this action will under/overload any tyre, and what the consequences are. Just keep trying and you'll get faster, slower111