Is it normal i don’t feel very independent?

So, I’m 20 years old, and I feel like I’m still treated like a child by my mother, and it may be partially my fault because I never really offered to do things for myself, I sort of just let her baby me and now I regret it. There’s some really basic things that I still don’t know how to do (like tying my shoes, or reading an analog clock) and it’s lead to even bigger issues (I’ve talked about my fear of driving a lot on this site).

It’s worse because I can’t go anywhere on my own, and I’m starting to get kinda embarrassed of going everywhere with my mom, especially since every time we go somewhere (and that’s no exaggeration, literally EVERY TIME) she finds something wrong with my clothing (like to pull my pants up or shirt down, or to wipe off dandruff) and I don’t know if it’s intentional but she usually has a REALLY upset sounding voice when she points these things out, and it’s just really embarrassing.

I want to do more things on my own, but I wish I had done more in the past. High School was especially terrible because I was surrounded by people the same age as me who could do all this with ease. I seriously doubt if I can ever live normally, but I hope I will improve.