Is agency work a way back into driving?

I have been out of driving for around 4 years now, I only have around 3 months experience on Class 2 and a few more on 7.5tonne. I posted before about European driving work which I enjoyed when I done it before, but I am finding it difficult to get positive answers off of companies directly, either not enough work or experience is to low.
This left me thinking that an agency would be the place to go to and get experience, but being fully employed within a warehouse at the moment is it really going to be a good idea to leave? I also was only 21, 22 when I stopped driving for a living I don’t know if that makes places/ people judge my experience.

I drive part time. Agencies are hounding me at the moment to work more than they ever have. If you wanted full time work, I reckon you’d have no problems finding it.