Find a good commercial driving school and have them take you through a simulated driving test. My grandfather quit driving after an accident in which the other party was charged but I remember him saying to my dad ".. but knew she was going to run the stop sign and I should have stopped but I didn't. I could have avoided the accident. I shouldn't be driving." My dad didn't replace his car after my mother was killed in an accident (she was alone in the car). He said that he could probably walk more if he got a new artificial leg! He was 79. Walked the mile to town and caught the one and only taxi home. I hope I will know when it is my turn.
I had a dear friend who at the age of 96 passed his medical and road test with flying colours then sold his . . . wait for it....Camper van! He moved into assisted living after selling his house at the age of 99 because he couldn't look after his garden anymore. He dies at the age of 104, mind sharper than mine is. He is my hero! Though I hope like my dad and grandfather I'll stop driving before I really have to.