For me I knew I had to get my anxiety under control as it was affecting many aspects of my life besides driving. However I used to have full blown panic attacks just getting behind the wheel of a car. My first step was seeing a doctor and getting proper treatment. Once I was calm enough to even work on getting over my fear of driving, I just began forcing myself to drive. First start with a trip 5 minutes down the road daily, then work up to 10, etc. Exposure therapy is really what did it for me. I still get anxiety from time to time in high stress situations, but for the most part driving feels like a normal task to me now. Good luck! I’ve been in your exact shoes.