I'm doing it real late, just turned 22 March 31st and I only got my permit in July, then took the course this fall, but it doesn't really matter because I'm just glad I have it now!
I got so nervous I failed the first time, hit a cone which I had never done before, but this second time I practiced a ton more and wasn't as nervous. Plus the nice thing is my driving school offers tests and their places so it's easier than at the RMV.