So you cannot escape from grammar, but the key question here is: what is the best way to learn grammar? You can learn the rules of a game by simply playing the game. You will certainly make mistakes; you may even get hurt. Eventually, however, you will know how to play. Of course, the rules of a language are very much more complicated than the rules of any game, but in fact this is exactly how you learned your own language. Nobody taught you the rules of your mother tongue as you were growing up but now you never make a grammar mistake.