Motability for Autism and mental health conditions

Hi,

I was wondering if anyone is in/ has been in the same situation as me. 
I’m currently awarded full rate pip and high mobility due to not being able to go on any journeys unaccompanied. 

I really want to learn to drive to be able to make some journeys independently and not be fully reliant on carers all the time to get to appointments etc. 

I’m entitled to motability as I get full rate pip but I’m just wondering if when I start driving I would then not be entitled to full rate anymore as I would be making some journeys independently. And for full rate mobility you have to be unable to make any journeys independently without a mobility aid. It seems silly that they would take away the thing that is giving me independence but I’m not sure a car counts as a mobility aid? 
I of course don’t want to be claiming something I shouldn’t be either! But also want to avoid contacting dwp for advice because I’m terrified of being asked for a review early.

any advice would be really appreciated:)