focusing with rangefinder is usually quite intuitive - pretty much move the focus ring in either direction until you have an overlap. One thing worth pointing out is that it's crucial to understand which way the ring moves when object is moving closer vs further away as it'll aid in tracking focus and general shooting where the object is not stationary. With enough familiarity and muscle memory one shouldn't have trouble shooting under most situations.
I personally like focusing with a rangefinder more than focusing with live view or with highlight peaking. With large aperture and shallow DOF, just focusing with eye sight is often inaccurate.