Generally if someone wants to learn to drive, they will do. Necessity trumps fear. It sounds like you are able to get through life without driving, therefore there is no actual need to overcome your fear of it.
You probably could overcome your fear if you really wanted to. Normally overcoming fear is a positive thing but you don't have to do it.
Look at how many idiots there are driving on the roads. That should give you comfort that you could do it if you wanted to. Maybe it's that they are too stupid to realise they are not good drivers, but you don't have that problem, and if you know you're not very good at it you can practice at learning the skill if you want to.
Think very hard about what it is that makes you anxious. If you understand what causes you to fear driving you might be able to overcome it.
This might sound ridiculous, but consider getting a driving simulator set up. Get a computer, monitor, chair, wheel, pedals, gear lever, as much as you can afford. There are dedicated "games" for learners (eg here) but even a racing game can help with the basics if you choose a basic car. (Forza Horizon 4 is a good example - set in UK so driving on the left, with AI traffic (mostly) following the rules of the road, with plenty of bog-standard vehicles to drive in addition to high performance racing cars.)
Clearly this can cost a bit of money if you don't have the kit, but then again driving lessons cost a fortune too. If you can practice in the virtual world where there is no risk of crashing you can get used to the sensation of driving and the basics of following the rules of the road. If you can get comfortable with feeling you are a capable driver on a simulator, it can help take some of the stress out of driving in the real world.