My sister has never learned to drive and, living in central London, has never felt the need for it particularly because her DH could drive and that took care of holidays, travelling abroad etc.
Her DH has terminal cancer (brain tumour) and is no longer able to drive and DSis told me recently how much she wished she had learned to drive and how anxious she is about the future anyway, and this is just one more worry that she doesn't need.
I know she can manage on public transport blah blah blah but she has to take two buses to the hospice where BIL is,just making an emotionally exhausting journey that bit more tiring, and she will never be able to take my nephew back to the place in France where he has spent all his childhood holidays - and has good memories of his dad - unless she hires a car and driver... She would absolutely agree with the OP - even if you don't think you will ever need to drive, at least get a licence.