I mean, you can learn the concept, but it's not going to help you much with execution.Could you learn to drive a manual transmission by playing a racing sim (with clutch and shifter controls obviously)?
Beyond the purely mechanical aspect of pushing an extra pedal and moving a stick with your arm, changing gears is about feeling and understanding what the car is doing. You wont get any of that feel from a racing sim, no matter how good the force feedback is.
(Bonus extra: The secret they never tell you about driving manual is that you basically get to re-learn eveything every time you get a new car, because every car has different tolerances, different bite points, different clutch travel and stiffness, different shifter position and gate, etc.)