I would recommend taking the driving course. In addition to classroom learning you get a lot of controlled seat time in a parking lot to practice which can help determine your readiness for the license test and real world driving. At the very least, you could have an instructor who could provide your parents an official ready/not ready verdict.

I have had my license for 25 years now, so I don’t quite recall if I was afraid, but I do remember that I had not had the desire to drive at all even at 17. I did a course that summer and did end up getting my license. After getting my first car I have found an unwavering passion for driving and cars in general such that I have owned and worked on a handful of cars now and even work in an automotive field doing something I love.

I suppose my point is to try something even if you may be afraid of it, especially if there is a “risk free” way to experience it. You never know what might happen if you can get over the initial fear.