I did not learn to drive until I was in my thirties. Up til then, I really could see no point in it. DH has driven as long as I've known him and I could always call on someone to help in a real emergency, like needing to get a DC to A&E for example. I walked everywhere with DS1 and later, DS2, in the pram/pushchair and used public transport when I needed to.
When my children were at school and pre-school, it was too far to walk from one to the other in time to drop/collect them on time and I began to rely on friends to give me lifts. At this point DH suggested I learn to drive to a) stop me being reliant on friends all the time, 2)maybe repay the favour to my friends and 3) have a bit more independance. He had a point and I learnt to drive.
I couldn't, and still can't, understand why I didn't do it earlier! I love driving. I love being able to get in the car and take myself somewhere without having to rely on others. I used to take the DC to visit family in far flung parts of the country that would not have been possible if I didn't drive. I can take a fair turn on driving on nights out with DH or friends. And, most importantly for me, I was able to be of some practcal help to my dear Mum and Dad during his last illness, getting him to hospital appointments, running her around rather than make her wait for public transport. I will also not be in the position that she as a non-driver finds herself in, which is one where she is totally reliant on me or my sister to take her shopping, to visit family and friends etc.
Having said all that, it really is your decision whether you drive or not. As long as you are not always blagging lifts off friends, then I don't see the problem. (buying the wine on a night out though, is maybe not the best thing as presumably the driver doesn't partake if they have to drive you home? Inless I msunderstood your post, in which case I apologise!)