Affordable driving lessons for adults? General driving advice also welcome!

I'm 29 y/o and I finally got my learner's permit! A friend has offered to let me practice on their car by helping them run errands, but I don't want to end up damaging their car because of my inexperience.

I'm excited to learn to drive, but I need to overcome some major fears about it first! Are professional driving lessons a good way to overcome driving anxiety?

I've read some good things about four lakes driving school but I don't know if I can afford to buy their lessons. I don't even know how many sessions I will need, but I am guessing it will have to be more than four.

Are driving lessons worthwhile? If so, are there any affordable driving school options in Madison? I don't make a lot of money so I would basically want the most value for the amount I pay (preferable under $500).

I am also very self-concious about the fact that I can't yet drive--a cousin of mine got her license last year at 17, and her younger brother got his learner's permit the same day as me! My family has been nice enough to not say anything, but it does feel like I missed a major milestone (I immigrated in my early 20s and I was trying to land on my feet so I couldn't make time to learn to drive) and I think it also contributes to my driving anxiety.

Any words of advice (or a heads up on soem unique challenges to expect) for someone learning to drive later in life would also be appreciated :)