Darren,
Now that you can drive. Go.
Go to confession before taking the Eucharist though.
Before you were able to drive, was the church too far to walk to, or ride a bike, or take a bus? Were there no other church members you could have asked to take you with them? What about your confirmation godparent?
The past is the past, however, for now, I would just get to confession asap and enjoy the full blessings of the Mass from now on.
Bless you for not losing faith in the church even though your family has. Pray for them that they may learn to distinguish the Church from the priests who, in their being human, fell so deeply into sin and scandalized the Church.
Peace to you.