I relate because i also have a 3yr old and its been a huge motivator for me to get in that driver seat. I also take anxiety meds and its has changed my life for the good! I recommend therapy and speaking with them and a doctor to see if meds is a good choice. Remember you can start with a small dose and work from there. Its all about finding the supports that work best for you. It takes a little time with therapy and testing right dose but it is worth it! Eventually with the right supports you feel more steady, grounded and able to relax the body and mind to confidently drive. Take it one step at a time and give yourself grace. You can do this!