No. You walk in and take a written test. If you pass, then you have to take a driving test. Assuming that you have a car. Or a friend with a car. Or money to rent a car.
Assuming that you can find a car to drive, you will take a lap around the block to demonstrate that you can steer, stop and maybe parallel park.
You are required to take and pass paid courses to get a license in most states these days. It was a huge barrier to a lot of the guys in the halfway house. Just coordinating getting to these classes via the bus was a pain. Also, if you return 15 minutes late to the halfway house the US Marshals come pick you up and back to jail you go, so missing a bus has pretty steep consequences that make people avoid any additional bus trips such as getting to drivers training class (you are required to work so you have to risk the bus at least twice a day no matter what).
This is very common in the US, even though it is not typically mandated. Technically you can just go take the test if you're up to it, and some people do exactly that with no more training than they got from mom & dad. But a lot of kids take the classroom route. Not every parent wants to teach.
Driving schools will give in-car lessons to adults, and let you use their car for the test, for a fee; that's the form of "renting a car" that's useful for this case. In my state the requirements are looser for adults than for teenagers, under the assumption that adults are generally more responsible or have driven before.
Assuming that you can find a car to drive, you will take a lap around the block to demonstrate that you can steer, stop and maybe parallel park.
The barrier to entry is pretty low.