First and foremost, congrats to OP. They give some good advice and motivation. I am 30 and just got my license a month ago. It was a huge obstacle to me and what you said reminds me so much of myself. Not being able to drive throughout my 20s always kind of weighed down on me in the back of my mind. Also, one of the first things I thought once I finally overcame it was, "I can't believe this is all it took."

I think setting up lessons like OP did is a good way to get the ball rolling. Kind of forces you to take that first step, which is of course the most impossible. I went about it a little differently, so I thought I might share how I was able to finally get my license too.

Even though I was 29 at the time, I went with my mom to an empty parking lot in the afternoons and we would spend 15-30 minutes, just driving slowly around the parking lot. The first couple days I wouldn't even press the gas. I'd just idle and practice steering/braking as the car crept around the lot. After about a month of driving around various empty parking lots, I decided to do the written exam and get my permit. Once I had my permit and I felt comfortable with the parking lots, we moved out into neighborhoods. We mapped them out on Google first and basically just did very slow loops around big neighborhoods. Then slowly branched out onto the outer roads and into traffic. It took time, but once you actually start practicing in the parking lot, it becomes comfortable and bearable.

So, if lessons seem like a lot to you, maybe consider starting with a friend or family member in an empty parking lot. My only advice with this suggestion is to stick with it. My mom would make me go every day, even when I felt like skipping it. But the more frequently we went, the more comfortable it felt. So, even if it's just 15 minutes, push yourself a little each week. Good luck, you can really do it.