I don't think anyone can really answer your questions for you. Especially when it comes to anything related to mental health issues, nothing is cut-&-dried, so to speak. Would it help to go to driving school? Well... it certainly couldn't hurt I wouldn't think. Should you see a therapist? It certainly wouldn't hurt to give that a try too.

There's not going to be any way to know which of these may help until you try them. So my thinking would be to start with one & then perhaps add the other. In the long run, what may be most important here is not so much what you do as is the fact that you're taking positive action to address problems in your life that you perceive as holding you back from becoming as competent a person as you'd like to be. Cultivating a feeling of being in control of your life & the direction it's taking is, to my way of thinking, what's important.