I think, if you're using R4DS with no programming experience, some kind of class structure is likely necessary. As it says in the prerequisites:
I've been doing some amount of programming for about 2/3rds of my life at this point, so I have trouble getting into the mindset of no programming experience at this point, but I think this rings true. However, a dedicated learner with a good human resource could probably handle it.
That said, I'm not entirely convinced that R is the good place to start if you are a brand new programmer. Base R is a bit obtuse and full of dragons, while tidyverse-ish programming is so new and evolving rapidly. R is also approaching Perl 5 for TMTOWTDI-ishness, which is great from my perspective but can be highly confusing for someone that can't judge whether the method that they've found is really a "good" way to do it.