What types of support can a link worker offer?

I'm an adult with aspergers and I just get confused with things really easily, would link workers be able to help me with things like mentoring, helping me set up guides to be able to know what steps to take in order to learn how to drive etc, like just take the stress out of things overall and what other types of support can they offer? Would they be able to help me look for external support, drop in sessions etc