Francis Sell wrote "Work to perfect your woods shooting, offhand, off knee, sitting, quick grab a tree rest, etc, and the bench shooting will take care itself"!
Theodore S Van Dyke author of The Still Hunter, Townsend Whelen, Sell, Ned Robert's, all highly emphasized the same.
Look up old back issues of Guns Magazine, go to August 1961 issue, read Francis Sell article, "Summer Work for Winter Guns"!
Sell hunted mostly N.West Coastal Blacktails, and was highly successful doing so.
In this article, he calls it "Looking in your rifle". Not just offhand shooting, but every aspect of circumstances faced in hunting situations, mostly quick shots in thick cover, and more! One best articles I've read to both rifle lovers, which he was, and hunting with them! Ned Robert's book, "The Muzzleloading Caplock Rifle" is great, and to read what he was taught by his uncle, who was a Berdans Sharpshooter " during civil war, it's amazing! And none better than Whelen either!
Yes, benchrest for working up loads, tweaking out your rifle, getting total confidence, then put it & you to work!
Best part? It's adds so much more fun to rifles and shooting!
