I had driving lessons when i was 19 and I hated it, I couldn't afford a car anyway so I gave it up and was quite happy to not drive. I lived in London anyway so I never needed a car.
But when i got pregnant I made myself learn to drive and it was the best thing I ever did. I suppose I could and would have managed without a car but I'm glad that I don't have to.
My mum didn't drive when I was little and I remember having to get on the bus with her dragging her wheely trolley behind her to get the shopping, I hated it. She learnt to drive when I was 13 or 14 and it was great, for her too as she was reliant on my dad whenever she needed to go shopping etc.
Most people who cannot drive manage perfectly well without a car - it's not an option as they can't drive and so they probably don't even think about it.
But I bet if they learnt to drive and got a car, they would wonder how on earth they mamnged without one!!