Two cars prior to my Model S, I drove a manual transmission car (Acura Integra GS-R), and I really enjoyed the extra control I felt I had with it vs. an automatic. The Model S reminds me a little bit of driving a manual transmission car, minus the actual shifting and the clutch of course. But as others have already mentioned, you use the brake pedal much less (feels a little like "engine brake"), and by default you don't "creep" forward when you're in Drive. (I've tried creep mode on the S and don't like it, but my wife does. It's one setting I wish they'd add to the saved driver profiles.) Model S is definitely the first non-stick-shift car I've driven where I don't wish I had a manual transmission.
Other thoughts:
* I find myself shifting (sorry) between "spirited" driving and maximizing efficiency. I lean much more toward the latter for the few long trips I've taken so far.
* During road trips I've found that I don't get tired as quickly in the Model S vs. any other car.
* I bought my Model S before parking sensors were an option, and it's much wider than my previous two cars, so I've been extra cautious in parking lots and garages.
Last but not least, I can honestly say my daily commute now puts me into a better mood, even when I'm stuck in traffic, or when some crazy/inattentive driver nearly hits me or cuts me off. First, because it's such a fun car to drive. Second, because I'm still not used to the random thumbs-up signs, smiles, stares, and waves I get along the way. Almost every week so far, I've gotten at least one stranger asking me how I like my car. It renews my Tesla grin each time.