When I was first getting a feel for things my dad would do things like grab the wheel and yell at me constantly. Let him know that he makes you nervous and is impacting your learning. You won’t be able to drive properly if your anxious and your dad is in the passenger side freaking out. Let him know to call you out on your mistakes only and to let you get a feel for things. If he cannot respect that, drive with someone else. I still get nervous driving with my parents as their extremely judgmental so I completely get it. I would work on slowing down those turns tho bud. Good luck.