Disabled driving lessons info/help request

Good afternoon everyone, wondered if anyone could help me. I have permanent nerve damage in my legs from a nueropathy i had in 2019. I lease a mobilty scooter through Motability and its just dawned on me after being disabled and using scooters for 4 years for the price im paying for a scooter i could lease a bloody car and be warm and dry lol!

The problem is, i never learned to drive when i was younger (im 49 this year) and now im dying to get a car but i dont know if its something i could do, how to go about it or where to look for info and what not. I live in Dunfermline in Scotland and i did a quick Google search for disability driving lessons in my area and im not having much luck at all.

Could i even learn to drive with nerve damage in my legs? Should i be asking the doctor if i could drive or a driving instructor and could i use an adapted car for lessons?

So many questions i know but my god what a lease of independence it would give me.

Thanks so much for your time guys

Ryan