What are your experiences with learning to drive?

I'm 30 and never had a driving lesson (for context I'm in the UK so there's no driver's ed when you're school-aged). I'm an anxious person generally, and definitely an anxious passenger. The thought of being in charge of a vehicle makes me feel sick. I worry I'll be overwhelmed by all the things that need my attention simultaneously (as well as operating the vehicle) and mess up.

I'm very lucky that I mostly wfh and can commute by public transport when I need to go to the office. My partner drives so I don't have to worry about food shopping etc. Altogether it means I don't need to drive so I've never felt pushed to make that step.