You can learn by repetition. And it's possible to learn new things.I don't know about you but I usually learn far more when I fail to do something then when I succeed.
Well, not all RPG give you experience that can be spent on whatever. One of the reasons why I liked Morrowind so much back in the day was that I increased my skills by using them. Isn't that also the path Cyberpunk 2077 is supposed to take? Or did I miss something?My problem with EXP as a reward from quests (and not from actions, no problems with that) is that it works as a simple bonus you can spend in random stuff. It's not really experience, it just fills a bar till you get a point to unlock (i.e.) a perk for guns, even if you haven't used guns at all in that quest.