Most soldiers do not get any practice in this. Infantry anti-tank weapons are very easy to operate. So they are given a lecture in how to use the weapon, some time drilling how to deploy the weapon and aim it. That is enough for them to use the weapon in battle to damage tanks.
There are also practice grenades for a lot of these weapons which is basically a rifle shaped like a grenade so it fits into the tube. It is then possible to take the weapon to the shooting range and fire it at targets, and although you do not get the big rocket trail and explosion you do get a nice hole in the target to see where you aimed. Some shooting ranges also have rails for moving targets so that you can have a cutout of a tank move at speed across the range that you have to hit.
Depending on the budget of the army you train in there may also be live ammunition available for training. For convenience the training rounds have an inert warhead but will have a rocket motor and a guidance system. So it is the same as the real thing except that it does not explode at the end. You can then safely fire it at a range without damaging any of the equipment or throwing shrapnel back at the shooter.
It should be noted also that there are a lot of different anti-tank weapons used today using different technologies. So training is different for each of them. You have simple unguided rockets like the RPG-7 and M-72 LAW. Then you have rockets tracking your aim so you can guide them towards the target. And then the most expensive systems is fire and forget like the Javelin which are able to find its own targets and guide to them on their own trajectory. So you just aim it vaguely in the direction of the enemy.
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