Not criticizing you at all, so hope you don't take it that way.
In my opinion/experience, you really cannot learn what you are saying you want to learn, from books/videos and then training on your own.
Having said that, training with legitimate guys is not cheap and neither are the costs associated with same (especially right now with the spike in ammo prices).
However, if you do your homework and then spend money training with a legitimate instructor who knows how to properly teach/train, it's worth every dime spent.
As a long time fan of Clint Smith/Thunder Ranch and having trained with him, suggest look at/consider:
1) Look at some of his videos on Youtube and Instagram (I have an Instagram account specifically so I can look at the TR account content) and see if you like his style. If you don't care for what you see/hear, disregard all that follows. The recent videos you see on his yt/instagram page are an accurate representation of Clint's demeanor as he does not "act" for the camera.
2) Get Clint's books - Urban Rifle and Urban Rifle 2. The man knows what he's talking about after 50 years using, training and teaching use of the AR.
Clint also has several training videos you can purchase to go along with the books.
There's also a Thunder Ranch Master USB Collection with hours of content available for purchase.
3) Take the Thunder Ranch Urban Rifle course.
Also suggest suggest look at/consider:
Paul Howe/CSAT (Combat Shooting & Tactics) in Nacogdoches, TX.
Paul just released a new book and has a video on his website addressing the reason(s) for the new book.
I have Paul's new book on order and having read his previous books, already know it will be excellent.
Paul has several videos online that will give you a sense for his demeanor/style. Additionally he also has training videos you can purchase.
I have not yet had the opportunity to train at CSAT, however, it's on my short list.
A few guys I know and trust have trained with Paul, and I trust their experience/endorsement.
Obviously there are other trainers out there who are good to go.
The specific suggestions above might be a good fit for you based on your stated goals/objectives.
Finally, suggest consider a dedicated .22lr AR upper to reduce training/ammo costs running live fire drills on your own.
I have a Tactical Solutions AR M4 .22LR Complete upper and it's been very reliable in that role.
I got mine from CSTactical (they currently have them in stock).
If you get one, be sure to also get a "pressure plug" to keep the bolt properly seated (I have a TACCOM Pressure plug, but they are no longer available).
Here's a pressure plug that looks to be good to go:
https://borebuddy.com/product/22lr-plug/