How do you learn to work hard and be consistent?

Im accepting the fact I've been avoiding facing real world but I'm just at a point where I feel fed up with my inactions. This year I started to focus on fitness and already been doing walking daily for 30 mins and resistance bands. But despite doing this repetitive, I'm just not feeling proud honestly. The bigger goals is what I'm avoiding to work on. Like improving social skills, learning to face fears of driving, going to college and getting a job. I seem to be doing other things as way of avoiding this feeling. At times I feel my confidence is stuck in those fears of avoidance. My family says if you learn driving you'll feel so confident and brave. I do want to learn but I feel shame that I'm so old now yet I'm not driving when all of my peers and cousins whom are younger than me are doing everything from job to college and able to do errands.