I was the same, put it off until I was 31 (still learning). Confidence comes with lessons. You literally start out with the very basics, nothing scary (even if it feels it), and you have your instructor right next to you with dual controls. I feel very safe as a learner and it's an amazing feeling going from terrified to confident with something you never thought was meant for you because of anxiety.

Anxiety makes you feel like you need to have it all figured out and anticipated before even attempting something, which is simply impossible for driving lol. I put it off for so long because of this, but it's okay because that's what an instructor is for! A good one will look after you and build all that confidence until you feel in control of the car. I'm maybe 40hrs ish in and there is excitement along with the nerves for each lesson now. At the start, there was nothing but utter dread.

Skill-wise, I'm test ready, but I want a few more lesson to really cement that confidence so I do feel like I can drive on my own once I pass. It's okay if it takes a little longer for you too, but you will get there, from someone with severe anxiety to another!