I'm a short guy who has driven my manual car while my right hand was basically a stump from having a knife put through it and having it bandaged up. I did drive slower in general as I couldn't shift as fast and it hurt to do so using the stump, but otherwise I was fine with one hand on the wheel.

For everyone else, we've had automatic cars for forever. There's also a video online of a man with no arms who learned how to drive their car without them.

Edit: changed to be specific about the one hand on the wheel.