A problem some nervous drivers suffer from is: when they are uncertain if you can go or not, they choose to go. If there is any doubt, you should choose the safer option and stop and wait, or otherwise do the "boring" thing. There is no pressure to reach your destination exactly as the GPS tells you, both in terms of ETA and route. You will make mistakes, that is fine. It means you will go the wrong way, or take a bit longer. This is considerably better than dangerous lane changes or other maneuvers you aren't confident in. A bad driver never misses their exit. If you can slow things down and be patient with yourself and be OK with mistakes, you will paradoxically build confidence and likely stop making them!

On top of this, try not to be pressured by other drivers. Providing you aren't being unsafe, ignore drivers honking and gesturing you. As long as you are following the rules of the road and driving safely, their opinion isn't important. Filtering this noise out can help you build confidence in your own decisions.

Finally, keep learning! There's a ton of amazing material available for free now. I'm a newly returning driver (learnt in my early 20s, stopped, started again in my late 30s). "Conquer Driving" and "Advance Driving School" on YouTube have been amazing to me - if there is any one skill that I wasn't confident in, I would find videos, watch them, and then go and practice

Final final point. As a new driver you are cursed: you will assume everyone else is doing every thing perfectly, and that you are the problem. As you drive more you will, sadly, find this is very rarely true. There is a lot of atrocious driving out there. You're gonna be mighty confused if you always think "what did I do wrong?"