It doesn't make me feel inadequate at all. I just prefer it when people don't mock my disability and health issues which prevent me from driving. It's rude. People who wouldn't point and laugh at a wheelchair user will point and laugh at me because my disabilities prevent me from driving.
The people who tell me I should drive regardless are usually the first to complain about student drivers, elderly drivers, people who cause car crashes etc - well if I was on the road I would not be safe. That is why I don't drive - if I drove and crashed my car in to them and seriously injured or killed them they would complain. So why complain when I take sensible measures to prevent this from happening!?
I also don't like people telling me my life is worthless because I can't drive (and yes, I have had that said to me).
I can fully appreciate that driving is a useful skill, I imagine if I had the ability to learn that I would learn if I could afford to in the future. Driving is not an essential skill in the same way that breathing is though, it's handy if you can do it but if you can't you're not going to drop dead.
For those of us who can't drive there are loads of ways around this - walking, public transport, living close to work and shops etc.
And I'm very rarely driven around anywhere - I get myself to places I want to go very well by public transport.
I don't feel the need to waste money endangering myself, other road users and the planet just to satisfy people who think everyone should drive.