I got my permit the first day they were open after my 16th birthday and my license a couple of weeks later after the waiting period was over (I think PA had a 4 week period where you spent the time with your permit learning how to drive.) I can still remember the first time I drove without a parent in the car, I felt so free. My parents wanted me to get it so they wouldn't have to pick me up from after school events or drive me to work. I think they liked that I could pick up my younger brother from his events too. I was the second to the last kid, so they were about done playing taxi driver.
I got my motorcycle permit when I was 19 and my motorcycle endorsement at 26.