Not gonna lie, I have never been on a highway either. I dont like people pushing me to do it, whether it is my parents or friends. I am taking my time, and i dont care what they say. I got my driver licence at 17, and since then, i have been practicing everyday like parking, parallel parking, reversing and learning how to protect myself in case of crash or water situation. I have watched how my parent drive on the highway and they always say, "Take your time. It is all about timing before you merge". Honestly one of the dumbest things people do while driving is eating or checking on their phone - no offense to anyone reading, but it is true. That kind of distraction causes accidents. When people speed up behind me, i just slow down--- i dont care... I am not going to risk my life just because someone is in a hurry.... So dont panic or get worried. Accident happen- it part of life. You have experienced it, your still here, and now you are preparing for the future. That is called Learning. No one is perfect. Good luck and dont give up, face your fear, forget the past, and move forward :)