To all the other advice, I'll add this. Listen to the animals, especially birds and other small animals. In a forest, a sudden silence tells you a large predator is approaching (bear or human). In a city, there is much more background noise, but I've found it very worthwhile to notice e.g. how birds post lookouts which give a piercing alarm when a cat approaches. Learn the alarm calls of the creatures around you.

You should have seen the look on our cat's face when I imitated an alarm call and the bird she was stalking flew away. (I don't interfere when she stalks mice, rabbits, or invasive bird in the US like English Sparrow.)

I've had animals warn me on several occasions. Once I noticed them all running silently in the same direction. I figured something was wrong, so I cut short our family hike, and headed back to our cabin. Just in time. Finally, our dull human senses could smell the smoke, and see the line of fire in the distance approaching. We had time to pack up the minivan and leave. (We learned that the fire had been set by an arsonist.)