I was 31. I couldnt afford when I was first old enough to drive. Then I lived in cities with good public transport and didn't need a car. It was only the imminent arrival of child number 2 that finally made made me give in and learn.
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My dad was an irresponsible hot rod guy, he taught me to drive when I was 12. He would get drunk and let me drive him around. Or he'd go buy a project car and I'd drive his truck home.