I've had six different ASL classes over the last three years, and am currently taking a class on structure. All of these classes were/are taught by Deaf teachers who are native users of ASL. All of these classes were my favorite classes to attend, as they were fun and interactive (we didn't just sit and watch a lecture. We participated, practiced, and learned a lot through doing things). Books were only really supplemental to the lesson. We used the book as practice outside of class, and in my Advanced Conversation class, we taught lessons from the previous semester's book in order to show fluency and demonstrate understanding of different registers. We had to attend Deaf Events (Deaf Coffee Nights, DeaFestival, MATA Expo, Deaf West Theatre productions, to name a few), and we learned an incredible amount about Deaf Culture. Classes were all voice-off, so we had no choice but to practice, and the teachers were very welcoming and encouraging. ASL teachers don't expect fluency. They know how to work with people learning the language, and how to build on things that have been taught before. Learning in a structured environment is an excellent way to establish a base for learning through socialization. Also, I've never met someone who went to Deaf Events for the purpose of teaching someone ASL. Normally, people go in order to socialize and catch up with friends.
There are awful teachers out there, however, if you find a good teacher (native user and deaf), who knows the community, you'll learn so much, so quickly. Suggestions given by members of this site are often very good. I'd encourage you to reconsider your view on classes.
I'm not d/Deaf, but I AM in my third year of Deaf Studies at CSUN. I'm also sick, so please forgive any grammar errors.