You haven’t failed OP! I do feel like a lot of your post resonates with me too, it’s hard 
I can’t cook any decent meals
honestly, just start small. Have you got any cook books/apps that you could look at? I started off looking at BBC good food and the Tasty app.
I can’t drive
you’re not the only one! It may feel that you are, to me it felt like so many people knew how to drive, passed their tests way before me etc, so I was somewhat surprised to find out that not everyone does have a (full) licence.
I can’t keep a job when I have one
Could it be that you haven’t found the right job? Is it that you don’t enjoy it? Or find one then realise it’s not what you thought? I do feel what you mean though, so many people say “just get a job” etc when in reality it is hard to find one!
Didnt go to uni
There’s lots of other routes nowaways, university isn’t the be all and end all. There’s apprenticeships, online courses (ie open university), colleges, or if you did want to go to university take a look at access courses. I was at university but had to leave and am currently looking at doing an online qualification.
I have anxiety which is limiting in some aspects of life
Have you got any support for this? Did you have any support at work when you were working? Do you think you need extra support?