I'm a lifelong hunter that has averaged 3-4 deer per year for 35+ years now and maybe more - I long ago stopped counting - nevermind the coyotes and other stuff. I have shot deer offhanded, from improvised field rests, seated behind a tripod, seated behind a tall bipod, seated behind crossed sticks, draped over tree limbs or tree trunks, prone over a fire ant mound (don't try in warm weather), prone over a ditchbank, using backpacks and binocular for front rest prone, prone behind a harris bipod....ehhh, you name it.
My shooting regime is to shoot something different every day. Other than confirming zero or load development avoid the bench. Be the only guy at the range shooting prone or crosslegged. GO SQUIRREL HUNTING A LOT. Nothing has honed my shooting more than squirrel hunting and learning to make do with whatever rest is handy when I see half of a squirrel's head rising over a forked limb. Any rest is better than offhanded. A length of paracord looped over a tree limb above you then held in your left hand while you shoot 'offhand' position, is light years better than full offhand, if you're sitting in or under a tree. A bogpod seems heavy until you're trying to shoot in brush too tall for prone. Two arrows with the tips rubber-banded together for a rear cross-stick rest can be combined with a tripod or other improvised front rest and increase your effective range by perhaps 30-50% over a front rest alone, and I have killed deer with just the two arrows rubber-banded as a front rest. A single stick or tree limb whittled from a nearby tree, held in your left hand with the other end jabbed in the ground, is more than sufficient for 100+ yard shots at deer while seated.
Learn to use everything, be ready to use anything. Literally anything taller than ground level is a potential rest. Learn what works well enough. Prone can't be beat if the terrain allows it but a lot of terrain won't allow it. And also learn when to forget all that and just shoot, when you have to.
Also, when I am practicing, my norm is to take one, or perhaps two, rounds of ammo, whether I'm shooting at home or driving to the local range. Get into position (Ideally after a short hike - I can do that at home), fire one shot. If you miss, you either shoot again and make a hit really fast or walk back home dejected. Might as well get used to that before you go hunting.