There's a strange paradox about dependency. You say you were too dependent on your family, yet never learned to work or drive. I know because I went thru that, even after my first marriage ended, I didn't know where to pay the light bill or how to write a check! It's a kind of hostile dependency that develops and locks you in, when your parents or caregivers gave you SOME of the nurturing but not what really counts. They didn't care enough or weren't involved enough to teach you things like how to drive or how to hold down a job. It leaves you looking back over your shoulder (unconsciously) trying to find what was so missing in them. meanwhile, you can't get fully into your present and your future. It's like always being in limbo, and can even feel emotionally like being in a fog.
You've taken a great step in just realizing this and questioning it. But you need an understanding and patient therapist to help you into a new lifestyle. I realize finances are an issue. I would go to the computer or yellow pages and look up clinics instead of private practices. County clinics, especially, can find financial solutions you didn't know exist. Make an appointment, go see someone, then discuss finances after you discuss what your problems are. That's what my experience has been, in case it might help.