With respect to others who are far more experienced than I am, my experience differs than others. I got my IR earlier this year with 40.0 in my logbook (had to put 0.4 in the day before the checkride when I found a math error). I had about 25 hours with a CFII, and 8 of them were from more than 5 years ago. The rest were with a safety pilot.
I also did not condense my training. The last few months I would fly on average once per week, occasionally twice at the end. This is contrary to the advice that many give.
My checkride was extremely challenging, with multiple unscheduled holds (and an unpublished hold) for traffic on a high wind/high turbulence day. The airplane was simple; a Cherokee with no autopilot, a six pack, and KX-155 (GS) / Garmin 300CL. These avionics were simple but did not make life much easier. I do not think I skated by on the rating, and was very confident on the checkride.
I do not think I am a special pilot with amazing skills, but to replicate this there are a few things you should know. I've had been "working" on the rating for 7 years. I completed Sporty's ground school several times. I had the written done before I started training. I would spend a lot of time doing Pilotworkshops IFR mastery sessions and hidden IFR lessons. I listened to podcasts and read books on instrument flying. I had a home sim to run through local procedures after my lessons. And most importantly, I had a really great CFII (who just started at the airlines) who constantly pushed me to be better and never get comfortable. He had a lot of experience with actual IFR which really helped my training too. We never flew the same approach twice, and flew to tons of different, new airports. I got safety pilot hours mostly because of his availability (or lack thereof). He felt I was ready to wrap up before he went to the airlines and I wanted to make it happen.
So I think it's totally possible to do it, but you have to do a LOT of work outside the cockpit. Ideally, everyone should be doing this. If you can learn it on the ground, you are wasting time and money trying to learn it in the air.