Driving with cerebral palsy

Anyone here learn to drive? How did you do it? 31 M mild CP that affects my left arm and leg. I was told by my family when I first started practicing with my permit as a teenager I wouldn’t be able to. I had trouble keeping the car straight. It would veer to one side or the other and I’d be constantly heading for the curb or the other lane and over correcting. Anyone else had a similar experience? Were there things that helped you? Anyone here learn in driving school as an adult?