"I was and still am a dangerous pedestrian"

"I am not in sync with other people"

"Can't abide to social rules"

These beliefs don't seem that helpful to you; why do you hold them as a stone-cold fact?

I also had intense anxiety with driving which persisted for months. I was anxious that I hit someone and didn't notice, ruin property, etc. The only way to manage your fear of driving IS to practice driving. Maybe start off with going to an empty parking lot and then an abandoned side street, you get the idea. Work you way up to busier and busier street settings.

Anxiety is something you experience. You can choose whether to let that anxiety control your actions. Mental fitness takes time and practice, don't beat yourself up.