Sometimes OTs are associated with hospitals, sometimes they have their own offices. What you want to research is occupational therapists who specialize in sensory integration work. If you talk to your primary care physician they should have idea of where OTs are in the area. There are lists online to start from for looking too.

A bunch of these specialize in pediatrics, but I've found if you talk to them, even if they specialize in pediatrics they might also work with adults some. For one of my OTs I was her first adult patient. My other OT, they had specifically built their gym to work well with adults, for the few adults they'd get, but wouldn't advertise for them.

I've gotten some help from PT too, but the help from OT was much more pleasant.

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As for your question about driving, I don't drive, and will never drive. My SPD interferes with it such a way that its illegal for me to drive. I think that for many people, working with OT, and then if necessary, a specialized driving instructor who understands the challenges of someone with these types of issues is a good idea. We shouldn't expect people to go and drive without help, but we shouldn't expect people to never do so either, unless it is actually a case where that's the proper thing to do. In your case, I think working with specialists is what to do.