I didn't learn how to drive until my late 20s. My husband was the same. My daughter doesn't drive now because of panic attacks. And my brother is 53 and never drove. He has good bus transportation, though. I didn't take a class, just learned on my own.

Since driver's ed is mostly geared to teenagers, it can take a while for them to get their required time in, plus any other training in parking, maneuvering, etc. Some states require night driving, inclement weather driving.