I was a very late bloomer with driving.
I'd never had a lesson before last July, I passed my practical test in March this year (1 minor, passed first time).
I was the most nervous driver EVER in my first 10 lessons and kept just cocking up the most ridiculous little things. But! It does honestly get easier, it becomes second nature to change gear, to check mirrors and to do everything you thought you'd never get the hang of.
Theory test - I got 47/50 on the theory and just scraped the hazard perception (not got the paperwork with me so don't know my exact score). The hazard perception is shite (pardon my language) and I don't know if I wasn't clicking enough, or too much... Just treat it as another mock test (as a PP mentioned) and don't stress over it. You can re-do it as many times as you like. A lot of the questions I got were common sense and there are some good smartphone apps about that will help you out.
Practical test: The WORST pre-test lesson ever! I was speeding (35 in a 30 because I didn't realise that the 30mph road that he took me down on every bleeding lesson was a 30 and not a 40), stalled it at every opportunity, couldn't park, couldn't tell him where my de-misters were, went in the wrong lane at 3 roundabouts. It was like everything he'd taught me had just gone out of my head.
The actual test was a breeze, I just thought it through like it was a lesson, but instead of my instructor it was someone who was just observing my driving. I was nervous, but I just got on with it, I was either going to pass or fail (and if I would have failed, I would have worked on what I failed on and tried again). I spoke to myself throughout the test. The examiner must have thought I wasn't right in the head because I just kept muttering things like 2nd gear, brake, slow down, speed up etc. I did it though! It's one of the hardest things i've ever done but worth it in the end!
I did a thread on here only last week about how I was struggling with roundabouts and stalling, and loads of people gave really good advice so please don't worry, because it will become natural and you will wonder why you ever worried in the first place!
Congratulations if you've made it this far down my post without yawning (it ended up pretty long)
Please please stick at it! :)