Are your parents willing to let you drive a car that presumably belongs to them without a license? Why don’t you just take the road test as soon as possible? Yes, your parent’s insurance rates will go up but it’s a lot better than the consequences. In my state, the insurance would cover you so long as you were a permissive user even if you had no license but it could really up the rates, especially if you are found to be at fault, and perhaps raise them higher than they would be if you just took the test.
Maybe you could advertise for a carpool till you get your license. Pay someone a bit towards gas and they could drive you.