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It took me kind of a long time to get used to driving; I don't think that I really got used to it until I was 19 or so (My NT sister took to it a bit faster than I did). Got in a couple of minor accidents when I was 17, but thankfully I haven't had any that were my fault since then (I narrowly avoided accidents in a couple of cases). I can tolerate driving most of the time, but I'm not all that comfortable with it unless I'm pretty familiar with the route that I'm taking to get somewhere and it's a fairly short trip.
my problem is i never feel that i'm stable inside my lane.
I disliked driving on city streets for a while. The only way I came to be OK with it was to drive the same route tens of times. This allowed me to practice things I needed to work on (turns, lane changes, etc.) in an environment that I knew what to expect in. That made it a lot easier for me to get enough practice to be able to do a better job driving in other situations and be able to focus more attention on the other people on the road instead of the mechanics of driving.
However, I still think driving to a new place is dangerous. Having to watch for the right turnoff and other cars at the same time is difficult for me and always is unpleasant.