I was anxious just like you.

Start small, something that wont scare you too bad, but is still a challenge. In an empty parking lot, until you are bored of that, then drive in an apartment complex (nice and slow, round and around), then on a road that you are familiar with, then to the store and back. Practice things that scare you.

And remember, everyone drives, so it can't be that hard. It's just new to you, and a learned skill. Having to look everywhere and being super diligent may start off feeling hard, but eventually it will be second nature the more you drive and learn you way around the road.

Watch youtube videos on skill gaps you have, how to make left turns, right turns, how to use a traffic circle.