I think, on reflection, MOST larger cities I've driven in in Europe were OK. Brussels, Barcelona, Bordeaux, Strasbourg, Luxembourg ... The outskirts of Paris are OK I'd say, those traffic circles are crazy. Copenhagen looked OK, we did cabs only there, and the trains. I have not driven in England or the Uk at all.
I had a rental car in Mexico and drove to Chichen Itza, my wife thought I was crazy, and realistically maybe it was.