I've been SSD since 1997, and experience similar issues to you. Twice I've been fitted for CROS hearing aids. The first was wired, and the second was wireless. I tried both times to get used to them, but honestly, I felt that they amplified noise more than anything else. That, combined with the discomfort of having something in and on my ears as well as the bother of constantly replacing batteries has led me to leave them in a drawer for years.
I get much more mileage out of just positioning myself where I can hear the most when walking with people, or when sitting around a table with a group, than with any kind of hearing aid so far. The only time I'm completely cut off is in very noisy environments or echoey rooms with more than one person talking at the same time.
The only kind of aid I may consider in the future is iPhone + airPods + LiveListen (https://www.cnbc.com/2019/01/20/how-to-turn-airpods-into-hearing-aids.html
) because that setup allows you to position the iPhone in front of the person you want to listen to. It might work while you're driving.
Actually, I just checked, and the feature works with my AfterShokz Bluetooth bone-conduction headphones, so maybe I'll give that a try since I don't have airPods. Unlike with hearing aid apps I've tried before (like Hearing Pro), there is almost no lag (there's still a tiny bit) between the sound being produced and it being reproduced in my headphones.