Looking for some advice on getting started after a false start

Finally after 32 years I learned it's a good idea to ask those who have been there before for some advice and to actually listen to it. So here I am.

Long story short my ultimate goal is to haul around some human cargo - Greyhound, municipal Bus services, Commercial transport, etc. but I'm willing to pay my dues and work up to that if need be.

Long story short again in 2007 I successfully completed training at Schneider Training academy however I did not actually get a CDL or take the test. I decided to leave before the CDL test was actually given. In the end that was my mistake and my responsibility and I accept that, however, I did have some good reasons for leaving. I didn't feel confident in my abilities and was freaked out because one of the previous people taking the CDL test with the state administrator totaled a four wheeler during the test. For whatever reason they let this person and another guy who failed the test stay and help us out with our training for the CDL. Well I got the feeling that often what these students were telling us conflicted with what the real trainer was saying and I was getting confused. But I was just too nice of a guy to say something about it and the trainer seemed to be good friends with them. Also I felt that this student who totaled a vehicle during his CDL exam knew more than I did and was better than I was so that brought my confidence way down and I began to question whether I really belonged out there. But in the end this is my failing and responsibility. I should have been more pushy and stuck with it. I'm not looking to blame anyone else for my cutting loose (that was my choice in the end and I didn't have to do it), I'm just explaining what happened. Thankfully I've matured a lot in four years.

So like I said I want to come back. I have a perfect 5 year driving record, though I'm not sure what if anything is on my D.A.C. (I will be requesting a copy) But I want to get back in and finish things this time and get started.

I'm all ears for any advice any drivers who have been there before have for me. That's where you come in if you have any advice for me. What should my plan be for accomplishing this? What do I need to look out for? I suspect I will need to do OTR for at least a year. Should I make sure to get a passenger endorsement then (both written and cdl test) or is this not so much a big deal and can be added later easily?

Update: I called up the DAC people and requested a copy. She did tell me there is an entry from SNI so I guess that will work against me. I doubt it will be a show stopper for me though since I don't have anything else negative (no points, failed drug tests, quitting under load, DUIs, suspensions, etc.). I guess I will just need to be honest and hope someone understands and gives me a shot.