Kudos for dating and sounds like getting through these anxieties and having a good experience.
In addition to the great stuff people posted above, I just wanted to add the minor point that I know a woman (I believe now 70, have know the whole family most my life), who has never gotten a driver's license or learned to drive. And I never asked her why. Seems a little odd, but not indicative of something wrong with her. If you have trouble being in cars at all, then yeah, maybe an aspect to work on for the future, but I can't imagine someone holding it against you that you don't drive.