One of my best friends is in a similar position - mid 30's and never needed to drive. Attempted lessons, but her anxieties around driving made her less consistent - long periods of time would pass before plucking up the courage to try again.I'm almost 35 and I still don't have a license. I grew up in the middle of a city, I didn't need to drive anywhere as public transport was very much readily available and we didn't have a car, so I never had the interest or the need to get my driver's license as soon as I was 18. However as I postponed, my anxiety about driving got worse and I don't know if I'll be able to learn or pass the exam. My attention span is a mess, people drive like lunatics around here and since I still live in the city, nothing is pushing me to learn. I feel embarrassed whenever this comes up as people tend to be shocked as if I just told them I have a hostage living in my basement, but the fear still holds me back.
She was single last year and embarrassed telling people on dates she didn't drive because she'd feel judged, or it deterred them from pursuing a relationship with her - I tried to encourage her to benefit her self-esteem but she recently met a boyfriend who drives and I think it no longer bothers her!