I have always tried to encourage my driving friends not to let their husbands do all the driving. I know a few who have lost their confidence, then been 'stuck' when their DH died. Likewise I have tried to encourage my non-driving friends to learn, for the same reason. I only learned to drive when almost 50, when family circumstances meant that having two cars was essential (I passed first time, too!)
I was quite happy to drive all over the country. Eventually, due to my DH's ill health, we never travelled far. After he died I wanted to get back to having nice trips, but found that I no longer had the confidence, at 76, to tackle unfamiliar routes. I was OK with the actual driving, but finding my way around complicated junctions panicked me. Now I'm 80 and just use the car for driving in the local area. I hate having to find parking places. I have younger friends who happily offer a lift if we are going further afield, but I always make sure that I redress the balance in some way.
'Margaret' sounds like hard work! Perhaps she has a reason for not wanting to drive, but her expectations are far too high. Not offering to help out with expenses is very cheeky, too.