My parents did this with a Volvo and loved it.
Re: driving. The thing I’ve found most difficult about driving in Europe is navigating very tight parking garages—it’s enough to make me sweat.
How are you at parallel parking? That skill definitely comes in handy for Euro city driving.
The other steps I’d recommend are looking up signage and road rules for the places you’d visit. For example, priorité à droite in France and Belgium, an archaic rule and no longer consistently followed (and being done away with in parts of Belgium as it was determined to be the cause of many accidents).
But important to know: even if you’re on what you’d consider the main drag, at uncontrolled intersections someone coming in from the right (even if a small side road) has the right of way. There are signs to learn that indicate priority when there are exceptions, and it’s worth familiarizing yourself with signage. An easy google search.
Most of all, have fun!