I'm frustrated and resentful about how my mother's health issues have impacted my life
I'm sorry that you are being burdened with health issues. Why do you feel that way about what's happened to her?
My mother can't drive me to school or pick me up after school anymore.
I understand that can be frustrating to deal with.  However, you need to realize that your mother didn't choose to be sick.  You shouldn't hold it against her, but rather support her through this difficult time.
Don't tell me to be supportive and try to help her. I'm angry and I will pull away from her.
You should consider how your mom must feel about not being able to take you like she would prefer to. Instead of pullng away and making her feel worse, you should try to be understanding and empathetic.