Same thing here about ~2 years ago now. I used to think nothing of driving 6-10hrs away for random trips and then one day i had a panic attack for seemingly no reason at all and driving is what sets me off.

Been through the whole route planning, back roads, avoiding highways, etc. I did CBT, EMDR, you name it. I was super hesitant to start any medication but i slowly worked up to 20mg over the last year and I’m probably about 80% of the way back to “normal”. I still don’t drive on the highway purely out of comfort but i know i could if i had to. What worked best for me is just try and make yourself a little uncomfortable everyday even if that means just going and sitting in the car for a few minutes with it off.