I am now unable to drive due to a very large range of factors (including being on a very sedating medication), but I was driving with a permit a few years ago (in 2014 and 2015).
I can say that I prefer being the passenger in the car. I don't have to worry about the stress of avoiding an accident or a ticket, which would drive me crazy, especially since I have severe anxiety problems. I am also very easily able to take road photos and road videos - and I am able to freely look at my road atlas (on paper) or Google Maps (on my phone) at any point in time. Heck, when in the car on roads around town (that I've been on many times) at night, I've even browsed and posted on this forum before. I can put CDs into the CD player, and I can easily adjust the air conditioning, and more. And if the fatigue proves to be too much, I have the ability to sleep. As a passenger, I can focus more on the roads themselves, and I am less chained to the stress of coordinating my vehicular actions perfectly with all other traffic. Driving, back when I could do it, was very stressful and nerve-wracking for me, but as a passenger, I can really enjoy and truly take in the roads, with no distractions.