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There are tons of ateliers in the U.S. that teach a rigorous program of drawing accurately from observation. It is mostly based on the 19th century French academic tradition, rather than the methods of the Italian Renaissance masters, which are not as well known or understood.
This site has a list of schools:
https://artrenewal.org/Atelier/Search
Although I can't speak to its precise criteria, the site's founder is a big collector and booster of Bouguereau, and promotes figurative art in the academic tradition.
Atelier programs are usually MUCH cheaper than going to a university, and the instruction is more narrowly focused and of a higher quality when it comes to that narrow purpose.
If you want, and can afford, to attend a university, Lyme Academy of Fine Arts in Connecticut, and New York Academy of Art (MFA program) are both well regarded, and most of the teachers at these schools come from atelier programs.
Just be forewarned, learning to draw accurately from observation doesn't teach you how to be creative, how to stylize or draw from imagination. Those aspects of art generally aren't emphasized in these programs, and a lot of the students end up getting comfortable with their academic figure and still life studies (largely indistinguishable from one artist to another) and find it too much of an ego shock when they attempt, and fail, to step outside of that comfort zone.