As part of our base practices, we work on kicks, but not the full extension, we learn to enter as the knee comes up, so you don't have to be a good kicker to practice.
Unfortunately for me, I used to do karate and silat, so I can kick. This means I always have to do the ukemi for techniques against kicks - ouch!
I think the trick to doing ukemi from a kick is to let your feet come higher than usual so your shoulder girdle lands first. Plus you need to trust tori/nage/sh'te!