Welcome here. It can seem very daunting to step outside the life you have always know, and it you take it all into account at the one time, then yes, it can seem almost impossible. You are by no means alone in that.
When given situations like this in my own life I've tried to break things down into manageable tasks, and tackling them singly (well, I try anyway:). From the list of things you'd like to be able to do I'd guess that maybe learning to drive might be a good thing to start with in a couple of ways.
If you can get together some money you can use a driving instruction. Remembering back to when I learned having an instructor made things very much easier, there were no uncertainties about what to do, and having fixed appointments got me going each time.
The other thing of course is that being able to drive opens up your options, so that if you wanted to perhaps do volunteer work it would be easier.
What do you think?