My two don't drive yet -- and they're 17 and 20! Interestingly, the 20 y.o. lives in a city of several hundred thousand and says that his bicycle riding there has helped him get comfortable with rules of the road re driving. That, of course, depends on how one rides, and how those around the rider behave, but he especially says he understands much more about rights of way at intersections, etc. So if it's a safe and comfortable option for your DD, maybe bike riding could be a reinforcing component. Plus there's an immediate exit option (you know that "let me out" feeling?) where she can just get off and walk her bike, thus becoming an instant pedestrian.
Empty-nesting SAHM to DS1 (1989), DS2 (1992), and an overachieving mother (1930). Married to DH since 1986.