Out our way we have the METEC driving school which is really good so you could do a refresher there. My DD's went there before they got their licences and the instructor they had was excellent.

My neighbour was in her 40s before she learnt to drive, still got lost but she didn't know why she didn't do it years ago. I think her reasons were similar to yours, she lived in Richmond so didn't need one.

Bite the bullet and go for it.