I somehow grew into it. As a child I spent a lot of time outdoors. As a young adult I joined an emergency response unit. There I learned some skills and even more important situational awareness. From that time I continued to acquire skills and hone those I already have.
Preparedness certainly has an impact on the mindset. If you do not go overboard with it, it means a lot less stress. I started to automatically scan the surroundings, got better at judging situations, remembering things, judging potential consequences. That will not only help to get out of trouble, it will - and I consider that more important - also help to avoid that trouble in the first place.