Is it permissible for a woman to visit the doctor while in her `Iddah (waiting period)?
It is permissible for her to do that during day time, but it is impermissible for her to leave her house at night except for a sound reason. And Allah Knows Best.
I wish to Pray at the Mosque, but I couldn't because I am a Woman. How can I get such a Reward?
All perfect praise be to Allah The Lord of The Worlds, and may His peace and blessings be upon our Prophet Muhammad and upon all of his family and companions Abdullah Ibn Masood (May Allah be Pleased with him) reported that the Prophet (PBUH) said: "Her prayer inside her home is better than its courtyard, and her prayer in her own bedroom is better than inside her home." [Abu Dawood]. Her staying at home, and not going to the mosque in obedience to Allah`s injunctions entails a great reward similar to that bestowed on a man for going to the mosque since the Mercy and Blessings of Allah Prevails. And Allah Knows Best.
Is a woman`s prayer considered invalid if non-Mahrams (marriageable men) saw her offering it?
A woman`s prayer isn`t invalidated if non-Mahrams saw her offering it, but she had better pray in isolation.
I can`t afford to get married, what should I do to curb my sexual drives?
You should offer a lot of voluntary fasting, keep busy with useful and permissible acts and make supplication to Allah, The Exalted.