Practice shooting offhand is very good practice. IF you get good shooting offhand, you can use any position better. I use kneeling whenever possible hunting, and prone is even better if you can still see the target from a prone position.

I use a bench rest for load development and for zeroing. A bench rest is also a good place to practice trigger control, since you can concentrate on that and not have to worry about holding the rifle still while squeezing the trigger.

In the field, take advantage of any rest you can find that you can put the forward hand on then rest the rifle on the hand or a rolled up jacket, etc., anyhting soft that the gun won't shoot away from.