I can't drive and I've never felt the lack.
I live 5 minutes walk from town, within easy walking distance of school/clubs/toddler groups/supermarket. I work from home. Would resent the expense of a second car anyway, and dh needs to drive to work on outlying industrial estate with poor transport links.
Anything not within walking distance is easily reachable by bus/train.
There was ONE occasion this year when I wished I had a car - when a severe thunderstorm struck while I was visiting a friend in the neighbouring town. All the buses were mysteriously cancelled (struck by lightning?!), but railway station was a quick scoot through the rain away and we survived fine.
In my position, I don't think the expense of a second car is justifiable, so paying through the nose for driving lessons seems even less so.
If anything happened so that I was alone with the dds, though, I'd learn.