Vibrato can hide bending intonation to a large extent. While an important expressive tool, I’d separate practicing vibrato from practicing pitch accuracy.
Bending is mostly a matter of ear training. There are physical sensations we get used to, but they vary all over the neck. Mostly, we just need to learn to be controlled in our movements, treating a bend as the precise movement that it is.
To bend accurately, we need to be able to hear ourselves as well as whatever reference tone we are trying to harmonize with. This could be another instrument or it could be ourselves. I think a good start is learning to bend accurately when there is no other backing track, nailing intervals. One routine that can help is playing a slow scale on one string, starting on maybe the third fret, bending up a whole step, then sliding up to the fifth fret (not bent) to see how close you got with the bend. On the fifth fret, bend up another whole step, then relax the bend and slide up to the seventh. Bend up a half step, relax and slid to the eighth, etc. This works both pitch recognition and the changing sensation as you work up the neck. That whole step bend on the third fret takes more force but requires less physical displacement than a whole step bend at the tenth fret.