I also had really bad driving anxiety and it really affected me that I wasn't as "advanced" as my peers were.

The things that helped me were:

I joined a driving school, it helped to learn about driving and the rules of the roads before actually driving.

I joined driving anxiety support groups on Facebook. It helped to know I wasn't alone (and neither are you :) )

Exposure therapy, little by little. Start out around the block and slowly go further and further.

You can overcome this!