So, I think the best way to learn is similar to teach:
you and I discusses the ideas, thinking about the things ( e.g., how to learn physics ), and talk about the things. Just like posting ideas here.
Compare the condition Feymnan has, I think the best way we could to take action is similar to what you’ve presented.
I think what Feyman said about “impossible” to learn, is about to reduce the effort to think.
I think what Feyman said about “direct” individual relationship is a condition that the asker and answer, both of them, are thinking asking question and answering question are trivial. So, they ask more, inspired each other more.
The method he mentioned, sitting in a lecture, doing problems are assigned make asking question very very hard, which makes people less likely to ask question, which further hinder their will to learn more.