This must be a tough situation to be in. I don't think you are stuck in this, I think that after 10 years, it's what you are used to and changing things is scary.
Here's what I know though from your post: you are capable and have the means to support yourself. After all, you've been paying all the bills. You are capable and are changing. After all, you just completed your first steps to be able to drive. You are not stuck. You are growing and changing.

Your boyfriend is the one who is stuck. He doesn't have an income. He's completely dependent on you for his basic needs. He has options to change his situation.... he's just choosing not to do anything to change. And he likely won't until a change is presented in such a way that he has no other option but to change.
There may be some "financial detachment" that's needed. It seems like maybe you have some joint expenses but separate bank accounts. Check into your joint expenses. Who is legally responsible for paying the rent (check your lease). Who is legally responsible for paying credit cards (there's a difference between joint cardholder and authorized user)? It's up to you what you do. I would stop paying his expenses. If they are joint expenses by legal definition (joint lease, joint credit cards) find out how to legally separate yourself from the joint financial obligations. If he's an authorized user on your credit card, cut him off. Let him get his own credit card and pay his own bill. If the lease is in his name only, consider moving out so there's no reason for you to pay his bill.. He needs to feel the consequences of his choices.

When he says all you care about is money, tell him that you care because you can't be the only one carrying that burden for both of you anymore. If he isn't able to take care of his half of the expenses starting immediately, you won't have any choice but to prioritize your financial security. There's nothing wrong with making your financial security your priority. There is something wrong with him using it as a weapon against you. It's called a guilt trip because he's guilty of trying to manipulate you to keep the status quo in your relationship.

I wish things were different than they are for you. I hope all goes well for you.