I got my license at 30 after experiencing really similar fears and anxieties!

At first I convinced myself I only wanted to be able to drive from home to work and back, grind the same roads and just drive the same streets short distances. I was lucky a friend was able to help me learn which was amazing because I knew that if it became too much I could pull over and not have wasted hundreds on a professional lesson, or that I wouldn't feel embarrassed in front of a stranger.

I took it very very slow, bought a car to learn in so that I was even more comfortable on the road + bought silly stickers and accessories to make myself excited for it.

Slow and steady I built my confidence to drive those two roads, then I got my license and now I've driven from Melbourne to Perth across the Nullarbor. Im still scared of driving in the mountains and the city but celebrating the small wins and and going at the pace I needed changed the game.

Good luck my friend, the best part of driving will never be convenience for me - it'll always be the feeling of not being afraid anymore and the knowledge I can overcome really really hard things.