I learned first on an auto but before I got my license I also learned to drive a stick. Not teaching kids how to drive a stick is pretty silly... A female co-worker of mine never learned to drive a stick until her husband slipped and broke his ankle. The first time she ever drove a stick was while driving him to the hospital. She nearly wrecked the car a few times and pretty much abused the car jerking it around with the clutch. Killed the motor a dozen times just getting it out of the parking lot.
My point is that driving a stick is probably something everyone even remotely interested in their own safety and personal freedom ought to know how to do. It's a very useful life skill and it's not really that tough to learn. But some people get brainwashed into thinking it's some super tough skill, so they are afraid to learn and then they pass that fear to their kids. There isn't really all that much to it, and the time to learn isn't when you're driving your screaming spouse or child to the hospital, or during any other emergency when you simply must drive a stick shift car.
Regarding fuel efficiency, some of the newer continuously variable auto transmissions actually beat manual transmissions. And a properly sequenced auto will match or beat a poor driver who doesn't know when it's appropriate to shift a manual to get good gas mileage. With modern cars, it's probably a nearly un-noticeable difference except for people who short-shift religiously in order to maximize fuel efficiency, but even then most people would get a bigger increase in fuel efficiency if they would just slow down a bit and drive less aggressively overall.
I like auto transmissions for commuting and also for my wife because her left knee has an old injury that is aggravated by pushing in a clutch. But we both know how to drive both stick and auto so she'll never be stuck unable to drive a car because she doesn't know how.