You don't! Working for a bad company would ultimately give you the experience you need that a good company wouldn't

Oof, that depends on what you mean specifically. At my previous job I was mostly spinning my wheels and wasting my time compared to where I work currently.

I did pick up some experience in dealing with unreasonable requests and managing client expectations, but even that stuff I feel I would learn faster in a better setting.

I disagree. You don't need to get cancer to know it's terrible.
Also, from bad examples you only learn how things shouldn't be done. From good examples you learn how they actually should be done. Huge difference.