Throwing myself into the Reddit fire...you're walking on coals posting this here, OP.

Also throwing myself into the fire to say, I can relate. I have depression as well and I'm planning on taking a test to see if I'm capable of driving because I was told 8 years ago I would never be able to by an OT. I'm fucking terrified because my entire livelihood--getting a job, caring for my family, being independent instead of just another stereotypical autistic statistic--hinges on it. Everyone always says "ah well you'll do fine, you're so smart, you don't need a test", but I have memory issues and am near-sighted (got glasses to help with that though) and like you, I don't have much self-worth.

To answer your question, though, no. You need to have someone with you. But I do wish you the best of luck and hopefully you'll shake off the criticism anonymity provides.