In my training that was only ever briefly mentioned in passing. Never practised or used in any scenario in the Sim.
It is not easy for a young or new F/O to challenge an older and very experienced captain - especially an autocratic captain.
It's not enough to say "this is what you do". Like everything in flying, it has to be rehearsed and practised.
We were never given the mindset of being equal flyers; and taking control was only ever practised for captain incapacitation - where there is no argument or opposition - or when F/Os were given an exercise being the PIC and the captain was their F/O.