My driver's test was on residential streets around the testing center, with speeds no higher than 35 mph. Practicing in a similar setting, with four way stops, right turns and left turns is a good idea, because the examiner can always throw in a surprise request at any point during the road test.
The driving itself was not a problem for me, since we did a lot of residential driving during class. What almost caused me to fail was making too many judgement calls about other drivers I met on the road. The examiner asked me to turn left from a busier highway, and I noticed a car in the opposite lane. I thought I had enough time to complete the turn before the other car arrived, but it was a close call. My examiner wasn't happy, Practicing on a closed course or parking lot is a good idea, but you also have to remember that other cars will be on the road during the exam.