I know what you mean with the parents providing transportation to everywhere! I was in a similar situation when I moved out. I was often too anxious to enter a store on my own because I had never had to do that alone (or really been given the opportunity to do that alone).

What helped me was finding a nice coffee shop near my place. They had delicious matcha lattes and I made a tradition of walking there on weekends. Then I realized that I could stop at a scenic park on the way back home. Then I realized that I liked walking around. Then I realized that there are cats outside and I can pet them! And at some point I also got really into pokemon go. It was a compounding series of small realizations that I could just go out and do things.

Disclaimer: I’m not from the USA and I am white, so that affects my experiences of this. That sounds very scary.

Side note: I’ve made a map of the locations at which I have encountered cats, making note of how many were there and if they were friendly or not. It gives me a sense of pride and accomplishment.