What’s wrong with me? Advice?

I’m 19 and I feel so immature. Emotionally I’m normal and socially I’m fine but I’m just a mess. I can’t keep my bedroom clean, can’t motivate myself to do any school work, can’t get myself behind the wheel of a car because I can’t get past the fear of hurting someone. I want to move out but I can’t learn to drive! I want to go to college but I can’t get myself there and I can’t bring myself to do simple high school assignments! I want my own place but I can’t bring myself to clean a bedroom, how am I gonna handle an apartment? I feel like such a child because even at my age I still need my mom to help me plan out my days and do what I need to get done. I have adhd and I know about executive dysfunction and it just seems like my case is so extreme, I’m on medication and in therapy and it’s a little better but I’m a huge mess! I’m so ashamed to even have people over because my room is so messy I can hardly walk and I can’t see the floor. I have friends I’ve known for years who have never been in my bedroom. I want to clean but every time I try I get overwhelmed and start crying and then I fall asleep because I also can’t cope with stress. I’m just so tired of being this way and I want to be a functioning human being