there is a nice, free online course on ICAO:
Performance Based Navigation - Web-based Training
That gives a bit more insight of what we are talking about here.
At least ICAO thinks that for all PBN navigation BUT approaches there is no sim trianig required, there is a distinction between anything enroute/arrivals/departures and approaches. Maybe the FAA has a different view, but that is what the guideline should be...