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The way I see it is you're not exactly STUCK. He CAN move back in with his mother, and at this point, I would kick him out and insist that he does. He is not paying rent or bills and is freeloading off of you, while refusing to work, sending you further into financial debt. He is a BUM! So, get rid of him and tell him he must move in with his mother. That's his only choice and option, and you DO have a choice here - you can kick him out.

You don't need him for driving lessons. Pay someone to teach you, or have a friend or family member to teach you. Don't hold back because you feel you need his help. Take charge and take control over your life and this situation! Don't let him bleed you to death. Like I said, he's a total BUM and as long as you put up with it, he will continue to mooch off of you, while sitting on his negative ****.