Simulators are great, aren't they? I wasn't a sim user until I got the single rotor heli. I was having a lot of trouble and my problem was so repeatable that it was predictable. That is frequently a sign of heli problems - either setup or a real problem. Then I got the sim and the sim helis are set up perfectly. But my problem on the sim was the same as in RC flight. Exactly the same. And you know what that means. The problem was the stupid human at the helm. So I am able to work on my skills and save repair costs. Lucky my.

For a real pilot a single rotor heli may work well for you. The mechanics of a coaxial have you controlling the servos and the servos directly control the lower rotor via the swash plate. And whatever you do is negated by the upper rotor / flybar. So as you said, you need to see the heli move to be able to know what it's doing.
On the other hand, a single rotor has the servos running the blades directly, but the flybar is in the equation to slow the response of the input. The neat thing about the flybar is the paddles on the flybar will "plate" at flight rpm. You will know what the heli is about to do by watching the flybar plate. When it moves, you can correct it before the heli moves. And you fly by watching the plate - add control and return the stick to center, watch the plate and correct as required. It's not like feeling the heli, but it does give you a reference that moves prior to the heli movement.
Just thoughts.