Im trying to draw as much from imagination as possible especially for the human figure so i simplify it in simple forms i can manipulate in every angle, i think drawing from imagination helped me a lot to understand simple volumes more and put these in perspective, just a box a cylinder a sphere etc, if you can draw these in any perspective in any angle you can basically draw anything !
And then when u master this when you watch a reference you dont just see the lines and details anymore but your brain is seeing these shapes and you can decompose anything easily into simple shapes.
So after that you UNDERSTAND the reference and you don't just copy it, so you can draw your reference in other angles etc !
That's the approach i take to learn how to draw (im still learning a lot but i feel like i'm the right track).