You can dive to 100' when you're comfortable diving to 100'. Take the AOW right now because if you take it after you get comfortable, it may feel like a waste of money.
As you try to figure things out on your own, you may well get comfortable gaining bad habits.
I just got back from a week on a dive boat, diving with two old friends and other people who were on the trip. One of the people on the trip came to talk to me because my friends had suggested she see me about problems she was having as a pretty new diver. We started talking about her typical new diver issues related to weighting, buoyancy, and trim. As we talked, I was very much aware of the fact that another diver who happened to be sitting next to me was listening, so I adjusted what I was telling her so it would apply to him--he needed it much more than she did.
I had seen him on several dives by then. He was obviously overweighted (weight belt), and he was not using enough air in the BCD to compensate. Consequently, he was swimming at an angle and flutter kicking constantly to maintain his depth. He would periodically stop to rest, sinking to the bottom and staying on his knees for a while before kicking again to get up off the bottom. His trademark was a big cloud of dust. He was regularly bashing the sea life as he swam over it.
After listening to a few minutes of that instruction, on the next dive he cut his weight in half, put air in his BCD, and swam along in reasonable trim for the rest of week. He talked about what a difference it made in his diving, how much better he was doing.
Any respectable AOW instructor could have done the same thing for him. Alternatively, he could have eventually figured things out on his own, I suppose, but meanwhile he had gotten perfectly comfortable kneeling on the ocean floor, creating clouds of dust, and soundly thrashing the coral and sponges beneath him.