As @GuideDogSaint says, you'd be unlikely to say the sentence about driving on the left - just as it is - in the present simple. However, the grammatical constructions of both sentences are fine. Your alternative suggestion (get used to + infinitive) isn't possible. The phrase be/get/ used to has to be followed by a gerund (..ing form).

First is probably better as "I (have) got used to driving on the left" or "I'm getting used to driving on the left". It could be ok if you say "I get used to driving on the left very quickly when I go to England", or something similar. Second sentence is ok.