No, but surely you grant that it is better that we do not have to re-domesticate apples, cows, chickens, wheat, and sugarcane, and rediscover mines or chemical processes for harvesting table salt and baking soda/baking powder, simply so we can bake a pie.
The purpose of distilling and preserving the knowledge and experiences of our forebears is so that we can turn what took them years or decades of trial and error into something that instead only takes us days, weeks, or maybe months (if the lesson is quite tricky.) That doesn't mean you can just coast on theory and received wisdom. I'm a big fan of qualia and genuinely agree that there is no substitute for some amount of direct experience. But lots of things learned very, very slowly via direct experience can be learned quickly and effectively via training instead. And some things are almost impossible to teach, but quite easy to pick up with direct experience.
Trying to force 100% of learning to occur purely through direct experience is foolish and wasteful. Many, many things can be learned through teaching and study, thus allowing precious time saved, and enabling direct experience to be focused on the areas it is best at.