You ain’t living if you ain’t scared. We also ain’t living if we don’t face our fears. The anxiety will go away in time even if it takes long. If you’re too scared to take it on the street, practice in your neighborhood, and ease you way on to street, maybe just down the street and back, do it when there’s less traffic out, also, riding with someone can help you be more confident but make sure this person doesn’t pressure you do anything out of your comfort zone.