My daughter is only 17, but she does understand that car insurance, which is mandatory in our state, is something that people like us simply cannot afford. She rides a bicycle or takes public transportation. She has had Driver's Ed for traffic safety purposes but does not see any reason to take a driver's test.
Her somewhat more well-heeled best friend was all excited about being old enough to drive, but when the reality hit her of how many hours she would have to work to pay for insurance, she decided she would rather enjoy her childhood. She is now 19 and still doesn't drive.
I didn't get my license until I was 30 and it helped somewhat to have an old beater that wouldn't even go on the highway and the absolute minimum liability insurance. I know that's not what you wanted to hear; in the U.S. people who don't drive have to deal with a lot of undeserved stigma, but sometimes reality is reality.