I want to learn to drive better?

Ok so I'm learning to drive rite now I don't have a license and I'm an adult already and I want to start learning to drive before it's too late for me. I have gotten trucks I got my dad's work truck it was a ford f-350 and I drove kinda sloppy because that truck has a loose steering wheel and it is way to big for me and I drove our other truck it was a 2002 GMC Sierra and I drove it really good in the country but as soon as I went to the public roads I was getting a little nervous and every time I act like if I know what I'm doing I drive good and when I think I'm gonna crash I drive bad can ya suggest what I can do or if I should get a car to Lear or a small SUV because I want to learn to drive and not depend on other people.

I don't know what the legal procedures in your country in order to get a license are, but in mine you sign up in a driving school, you may go to classes or not, (officially you have to be present in at least five classes, but most people opt to go to classes until the whole road code was explained) and then you have a theory exam. If you are approved, you start learning how to drive and at the end of 32 30/40 minute class you have another exam, a practical one. I don't think it is a system as good as, for example, the Finnish one, but most people are able to get the license. If in your country it is like this, I would advise you to go to school, and if you pass the theory exam, just remain calm in the practical lessons, base your driving in what you have learn rather than in how you feel and the teacher is there to guide you (or stop the car!). So there's nothing to worry about, you sure can make it but be calm.

I think you need to see if your dad can get you a $2,500 or $3,000 car. A car is a lot easier to learn how to drive in. A Ford F-350 is a pretty big pick up truck. A small car would be far easier to handle. Also try your best to keep your anxiety in check as while some anxiety is good (it keeps you alert), when you get to the point of panicking your more likely to make errors in your driving that could lead to a crash. Also start on roads where no one is on them and then move to quiet streets that may have a little bit of traffic, but very little, after you gain confidence in that area than start to drive in moderate level of traffic and after doing that for a bit and gaining confidence then start to get into the heavier streets and then after you gain confidence in that start trying the highway, but for the first few times maybe just go to the next exit until you feel you can handle the highway. Just got to build up your confidence little by little and in the correct sized car and then you'll drive better.

I'm currently learning too and it is a scary thing, but it gets better and building up confidence helps out a lot with driving.

You should take a course at a driving school. It's the easiest and most efficient way.