I drive, but it's my least favorite thing to do. I've had some bad experiences with it during the 20 years I've had my licence but, thankfully none that hurt anybody. Well, actually, back in highschool, something apparently happened and I woke up in hospital with 3 fractured vertibrae and no car to drive.
I learned to drive in a car with manual transmission, but due to that being a ridiculous method of changing gears while driving in the real world, I prefer automatics.
In my adult years, I've driven in many different cities and other environments. I've learned that it's best to just not worry about the interaction of other people on the road and just follow the road laws. I can generally drive where I want, but I'd still rather be playing music, building something, learning something that doesn't require human interaction, or skating.
To the OP, I think you should do the driving. Let your boyfriend plan out his erronds with you so that your togetherness is fun and casual.
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Why be a label, be yourself and keep others guessing instead. - Dee_.