Honestly, all roads should be designed intuitively. Why would anyone ever want to design a road that you have to study up on in advance? Literally makes no sense.
Ideally yeah, of course the design should be intuitive whenever possible. But sometimes a new design which may be less intuitive will have benefits that outweigh this concern. And drivers are familiar with the new design, any future designs based on the new design will theoretically also be intuitive to most users.
A good example of this IMO are roundabouts, which have only really been commonly used in Canada* for the last decade or two. A lot of people struggled with them when they first came in, but i think now most would say they're pretty intuitive. And once you get used to a single lane roundabout, it's less difficult (and more intuitive) to go to a two-lane roundabout, and from there a turbo roundabout, and so on. The initial roundabout wasn't intuitive to many, but the benefits (primarily safety but also operationally and environmentally) outweighed the cost (lack of intuitiveness).
(*except for Edmonton which has had several dual lane roundabouts since like the 1960s. As an aside, I grew up here so to me, roundabouts have always been a standard intersection design and I always had a hard time figuring out why out-of-towners couldn't figure it out until I realized that no-one else had them.)