I understand what you mean, even if I'm not fully incontinent. I've had bedwetting problems all my life, and OAB as well, so diapers have been a permanent part of my nighttime attire, and during the day I often feel I need to wear protective underwear or even lightweight diapers in case there isn't a bathroom readily available when out and about.
It's been a source of frustration at times, fear and shame at others. But, there is a degree of comfort and sense of security that I derive from my protection, whether it's knowing I won't have to frantically search for a restroom for the risk of ultimately making a wet mess of myself in front of other people, or not having to worry about waking up to change my wet sheets and sleep on the couch.
To be diapered means to me that I don't have to be afraid, and I can lead a relatively normal life, especially once you realize that nobody really notices what you're wearing under your clothes.
On potty training, I feel you.
I didn't get the hang of it till I was nearly 5 years old, I also had a fascination with diapers and asked my parents not to make me wear underwear (which they didn't agree to). I'd get in trouble for wearing my overnight diapers during the day and be made to feel ashamed of them, not to mention the pressure before then of getting through potty training.
It's not something I want to push on my kids (when I find someone to have them with), I don't want them to be made to feel like that and force them into something for my convenience, I've read a number of studies and firsthand accounts that it's something they'll choose on their own and their accomplishment, proving healthier than forcing them to something they might not be ready for.
*Good Lord I've made a wall of text*
The gist of what I'm trying to say, is don't feel bad, don't think like there's something wrong with you, it's not good for you, Yes it's a coping mechanism and Yes it's normal.
There's no rule that you should be miserable with the hand you've been dealt, make the best of the situation and accept whatever comfort and happiness you can find in it, as it's okay to be your worst critic (that's where personal growth comes from in many regards), just don't be your own worst enemy.