I really hated learning how to drive, because I'm good at learning things in a knowledge type way, but that was little help with learning how to drive. I'm not very good at being not very good at things, which sounds like a humble brag, but it actually means I get frustrated and find it hard to stick with things I don't immediately click with.
It took me a decent while before driving began to feel more natural, but it did get easier; one of the changes I noticed as I improved was I gradually came to treat the mirrors as an extension of my visual perception rather than things I needed to remind myself to check (this also meant I preferred reversing for tight manoeuvres, because the mirrors meant I could better gauge my "vehicular proprioception", so to speak (how close I was to other stuff))
None of this will make your quest any easier, because the process does take time and it sucks for the majority of that. However, I hope you take some comfort in knowing that this certainly isn't a you-problem.
On paper, the Equality Act 2010 is great in a bunch of ways. In practice, it's exceedingly difficult for the average person to pursue justice through it. I imagine the barrier is similar to how it works in the US, except the UK has way less of a litigation culture.