I probably could let her roam around freely but she does like to explore and I don't want her to end up in a place where I can't find or get to her. They aren't basking lizards and like to be hidden, or kind of like a cat in a cardboard box where they feel are secure on most sides and see what might be coming at them.
I have one of those collapsible cloth and net dog pens I sometimes put her in to let her run around in. I put in a couple bunched of blankets and branches in there so she has things and crevices to explore. They also aren't climbers so I don't have to worry about her trying to get out. Other than that she pretty much has free range on the bed where she spends most of the time between the comforter and blanket like the pictures above.
As far as learned behavior she knows where her favorite part of the bed is and when the light goes on in the morning or when I get home from work she usually comes out of her hiding spot and pushes on the front glass of her enclosure to say hi or be let out. I'm currently feeding her wet cat food which has the best nutritional value for the first year but after that I can start supplementing with vegetables and berries. Maybe some more learned training might come into the picture then with rewards. Some larger lizards like Argentine tegus have been known to exhibit some treat reward behaviors like a dog. I would love to have one of those but you pretty much need a walk-in closet sized enclosure at minimum for those.