Your children are old enough to do things for themselves. If we continue to do things for them that they won't do for themselves, we are only hurting them. Your daughter need to get psychological help for her fear of driving so she can get over it. As long as you are driving her, she has no need to get her license and drive herself.
Have you thought about
applying for disability ? Although if you are still able to wok, it is doubtful that you would be approved. You can get Early Retirement at 62, if you have enough work credits, but it is reduced for the rest of your life.
Retirement-Benefits By Year Of Birth-
/www.ssa.gov/planners/retire/agereduction.html