M0nica, you're right up to a point. I have a young friend who felt that way and did one of the 'returner' drivers' courses offered by most instructors. She still doesn't like driving, but does what is needed.
However, there is a balance - and we don't know where OP's friends sit on that. My mother had always been a very confident driver - for many years a very good one, then a 'everyone else is wrong' one, and finally a dangerous one. She wouldn't listen to any family or close friends. Finally, the mechanic who had always serviced her cars offered to go out with her. She ran into a wall and held up traffic, and he was gently able to persuade her that it was time to stop.
I am also sympathetic to those who don't want to use public transport. I am not 'officially' disabled, but I do have some mobility problems. Being uncertain of where to go, unsure if you can sit whilst waiting, platform changes, timetable changes etc. are all a huge challenge.
Strangely enough, I just cried off a visit to a friend because I felt slightly unwell. She was sympathetic enough to know that I wasn't up to either driving or negotiating public transport, and didn't want to get there and find myself worse. We just re-arranged, both disappointed (though I think the new date will suit better generally).
I think that good friends do understand and OP is picking up undercurrents.