I agree about investing in good hardware with force feedback, such as a G27 wheel or similar, but thats not even slightly the hard part. The problem is there is pretty much no software that gives even close to a realistic impression of driving an actual car, or how it realyl responds.
Since I'm lucky enough to have owned and/or driven several of the cars that appear in such games, I can tell you first hand that all driving games I've ever tried (including the ones you mentioned and the ones that make bold claims about hyper-realsitc physics) all fail BADLY at feeling or responding anything like the actual cars they are supposed to be moodelling. In fact they most don't behave anything like any actual car would at all. Actually the real cars are FAR easier to drive than their video game versions.
Also you want to teach omeone how to deal with traffic, situational awareness, blind spots, pedestrians etc etc, not how to get good lap times. I think that if you leart to drive only using a video game you would actually have a LOT of bad preconceptions around physics to undo when you first got behind the wheel of a real car, so I'm not sure using racing video games to teach is a beneficial approach at all.
This is also true of PC flight simulators by the way. If real cessna 152s and 172s were half as twitchy and difficult to fly and land as they are in Microsoft Flight sim X and to a lesser degree, X-plane, nobody would have ever bought one at all, yet in real life most flight schools choos those planes for training exactly because of their easy handling and docility.