Indeed, and the type of experience is important.
My daughter and my partner are the same height and probably similar weights now but it’s a world of difference which one rides pillion with me. My daughter has been on the back of my pedal-bike since she was a baby and graduated to the back of my motorbike aged seven. She has grown up as a pillion and is completely at ease, I can ride like she is not there. If it wasn’t for her constant babbling in the intercom I could forget she is with me. We never knock lids.
My partner on the other hand is a motorcyclist herself and obviously makes different road judgments to me. I can feel her doubting my decisions. Despite riding as smoothly as I know, we always end up knocking lids. I certainly never forget she is on board.