If you will always live in an area where you can always 100% rely on public transportation for all of your needs the rest of your life. Then you’re fine.

I would say if that’s not the case, then get back in the driver’s seat soon, but in a controlled environment. If you are in the USA I would highly suggest an autocross (driving around a parking lot with cones) as that controlled environment. SCCA is full of helpful and friendly enjoyers of cars, and will gladly help you get more comfortable controlling the 2 ton deathtrap in a safer and more reliable way.