This is true - but it’s hard even for “good” drivers to always understand especially on roads they might not be familiar with.

Example: open space on either side of the road, tends to encourage people to drive faster.

Closing that space (whether by buildings, shrubbery, etc ) will slow the speed.

But I will say there are also “obvious” bad designs - the rare far to short on ramp to merge, where drivers don’t understand how to adjust.

Or the one I most frequently encounter are “blind spots” created by the speed of an intersecting road, where a mirror may be attached to a pole / tree, or a sign reminding people to look left right left, or even instructing where cars should be beyond for a safe pull out.

I know of one intersection near me that both has markers on the road(don’t pull out if cars are at or beyond this marker), and a reminder about looking, but still has a high frequency of accidents.