Sorry, this is going to be a monster of a post. TLDR - go for the driving lessons!
The vast majority of dyspraxic people can learn to drive just fine. There’s a reason DVSA doesn’t want to hear about the condition, unless it’s a really, really extreme case.
The only thing is that it usually takes longer (and the process can be really frustrating unless you get the right instructor and stop beating yourself up over learning differently). But once you’ve figured it out, you’ll be at least as safe on the roads as anyone else - possibly more, because you’ll hopefully be better aware of your own skill level and limits than most of the drivers out there.
So I’d say, if you’re thinking about it, just go for it.
I recently wrote down some advice in another thread where the OP was struggling with learning to drive. Their situation was not exactly the same as yours, but I’ll copy my post here in case you might find some of it useful:
"First, focus on getting some more self-awareness about how you learn. This is the most important thing you can do. No instructor, no matter how good, can see the inner workings of our brain. You’re the one who needs to figure this out: what you struggle with, what helps and what does not. Only then can you ask for the right kind of help from an instructor.
Once you’ve had a good think about this, find a new instructor. Ask for recommendations (on local social media groups, from friends or neighbours etc). Check online reviews. When you find one that looks like they might be a good match, talk to them about what you find challenging and what you need to be able to learn. If they respond well (you’re looking for curiosity and willingness to try different things) do a trial lesson. If that goes well, you’re on your way. If it does not, keep looking.
Try taking everything back to the basics at first. Make sure you feel comfortable controlling the car before you start tackling the traffic. Under 17 driving schools are a great idea. So are quiet industrial estates or giant empty car parks. If you need to drive around one of these for 20 hours to feel like you can confidently handle the steering, speed, gears, etc, just do it. Do not rush this part - it will pay off.
Once you’re back in traffic, pick one thing at a time to work on. E.g. for your next lesson, you’ll just be focusing on steering and positioning, or junction approach routines including mirror checks. Your instructor can sort out everything else for you, either by telling you exactly what to do and when, or physically doing it for you. Once you’ve got the hang of this one thing, move on to the next.
And every time you’re out, keep reflecting on what’s working for you and what’s not. If you find something especially challenging, look at videos between lessons to get an idea of different ways to approach it, and discuss it with your instructor to get a better understanding of how it works.
All this might seem like a big step back if you’ve been having lessons for a while. But the fact is, you’ve probably picked up so many unresolved issues along the way that trying to fix them all in one go is just going to end up with you tying yourself in even more knots. Not helpful.
Next, drive the test routes in your area until you’re familiar with the road layouts, usual traffic patterns and such. Do a few mock tests to get structured feedback. Book a test and take it as soon as you’ve got a 50:50 chance of passing (but expect to fail the first time and only treat it as an opportunity to get real life test experience).
Shorter lessons are also a good shout. Again, self-awareness helps. Learn to recognise the length of time your brain can handle in one go (this will get longer as you get more used to driving, but don’t try to do too much too soon). Don’t go over that time because you’ll only overwhelm yourself and feel rubbish afterwards.
And finally, you need to get to grips with the fact that you’ll always make mistakes. Even after you’ve passed. Everybody does, including those with plenty of experience, so you’ll just need to live with that knowledge."