In fairness, this was also my take on it.
OP's DH did all the night waking for what sounds like quite a flimsy excuse (sorry), you only do sandwiches or basic meals - any proper cooking is done by DH, and DH also has to ferry the DC around to any appointments they need, plus fit in a top up shop midweek. And then he has his parents he's trying to support too.
It sounds as if your DH is really supportive OP, and while I get that you don't feel there's a need to drive at the moment, that's because he's doing it all.
I'm also autistic and have ADHD. I fucking hated driving. Had absolutely no interest in learning - until I had to because of personal circumstances.
Rather than lessons once a week, I bought my own car and my dad took me out to deserted car parks so I could just drive around. Constantly. Oh, and it was an automatic - absolutely no way could i cope with changing gear!!!
I don't think I'd ever have learnt on a regular driving schedule - I needed to be completely immersed in it, taken out nearly every night so I didn't lose the feel and built my confidence.
What did you try when you were 30 - was that an automatic again?
From a neurodivergent perspective, there's a lot to learn when driving. And you're constantly being bombarded with sensory input - there are lots of thoughts in your head! When you're starting out, it just feels too much - I get that feeling entirely. But gradually, gradually, things become more natural so that you don't have to think about it quite as hard.
Also, I know many people won't think like this but I've had to get my child to the hospital as an emergency - quite literally a life or death situation. Current ambulance times are horrendous - he wouldn't be with us if we'd waited. I like to have a car outside because if something happens, I can get my child to help. Both my DC are SEN and DS has high needs, so being able to drive was quite literally a life-saver. I wouldn't be without it.
I think you need to consider if you're being fair to your DH. My thoughts are that it would be reasonable to try again but slowly, slowly and with someone who has plenty of patience to take it at your pace.