@allycat48,
Do you need a car? Do you commute to work? Need transportation to visit family? Run errands? Can you afford a car payments, the legally mandated car insurance, gas or fuel costs, preventative and upkeep maintenance costs, etc...?
You haven't established the whys on why you want to learn to drive?
If it's just to overcome your fear of the above mentioned anxieties? A noble cause if they are not too overwhelming and entrenched in your system.
How have you gotten by these past 15 or so years?