It is an essential skill with some lifestyles. Not everyone gets that not everyone wants those kinds of lifestyle or, as shown in this thread, are frustrated to be facilitating that lifestyle with people who are choosing not to. It would be great if there was more to enable people to choose not to drive, less cars would be lovely, and it's a great thing to champion, but so many things are stacked against that in so many areas.
I did some driving at 15-16 (US). I hated it. So many say that you get over your nerves, but I had well more than the required hours and theory classes, I could drive fine sometimes, but all that went round and round my head were the risks and this sick feeling that everything is going to go wrong and I'm not going to be able to stop it and... it took me far too long to click that just maybe having my mother nearly kill me while she was behind the wheel of the car might just be related to this and it may take more than just driving more to deal with.
I ended up medically unable to drive anyways - DVLA doesn't like people who lose sensation and control of limbs driving (it gets really bad when I lose control of my neck). My spouse can't drive either. Thankfully, neither of us like to travel much (I have 2 travel goals), and we're happy to build a lifestyle that suits us without it: we live in a small city, choose houses near bus stops in areas with good taxi service and footpaths, and deal with the limitations.
Yes, it can be limiting, and there have been situations where it's been an issue funerals particularly we've had to be careful in arranging what we're doing but in general, it's one of many life skills I deal with being unable to do that is an issue pretty rarely and when it does, I try to be as unannoying about it as possible.