Normally if it's on the road you need to have a license for it.
Intense fear of driving wouldn't stop you from getting your drivers, every new driver is deathly afraid (especially with big trucks). You're 30 now. Time to pull up your socks, suck it up and just do it. Some of my friends even got prescriptions for drugs to relax them right before their drivers test, as their nerves usually get the better of them and they make unnecessary mistakes.
So what if you failed twice? Most people I know try again and again until they pass. Even if you get your license, I seriously doubt it's going to be economical for you to buy a car, pay insurance and maintenance and petrol, just to drive 3 blocks and/or to town to buy stuff.
A nice bicycle would do fine unless you want to chaff the cherries