Yea, NoCake! Yea, ryuken!
And never underestimate YouTube if you need a quickie lesson on something.
Take driving lessons from a patient friend or a Driving School ASAP. This is a skill that employers take for granted. You need to be able to drive.
Did you graduate from college? What work do you do?
NoCake has give you an excellent script for having some adult conversations with your parents; if they are open to talking with you, giant steps ought to results in creating a new, adult relationship among you. If this happens, and you keep these communication channels open, you shouldn't need to consult a therapist.
Best wishes, and stay in touch.
Roadie