See? Sherlock has ALWAYS been the one driving!!
interestingly enough though: in a commentary for series 1, Benedict and Gatiss both said that they don’t think that Sherlock can drive, and if he ever did, he most likely deleted it! Benedict added that Sherlock might be able to learn it within a short time though! Why Sherlock is actually driving: Martin doesn’t have a driver’s license!
Honestly, though, I don’t see how Sherlock would NOT know how to drive. It’s the sort of ‘could be useful at any moment’ urban survival skill he’d practically need to learn for his line of work.
Also he’s the sort of demanding, bossy perfectionist bugger I tend to find gravitates toward driving, if only so they aren’t forced to watch everyone else do it more poorly than they know they could. XD