I recently turned 18, so my parents signed me up for driving school. When I showed up at the academy, I was surprised by the cars they had available for students to learn on. They told me to pick whichever I liked best, and I chose the Mercedes-Benz G500.
The car my driving instructor use to teach me in was a VW Golf IV, the first car that I owned and had the opportunity to gather some driving experience in was a red VW Golf II, and the car that I used most to drift and test the limits was a VW Lupo I drove during my time in civil service.
So, depending on what you consider “learn to drive”, these are probably my answers. All brilliant cars, loved each and every one of them.