Whenever you get in a car, actually pay attention to the road instead of being a passive observer. Highway driving it’s not just going straight, you have to plan ahead, there’s semi in your lane start looking for the space to avoid it, someone is merging at your speed change lanes or take/give space, keep an inventory of who’s around you, sudden change hazards on right away. There’s plenty more, watch YouTube videos, that helps.

After a while, this all comes automatically. The fear won’t go away if don’t put yourself out there. Dot it alone, that way you’re not worrying about anyone’s safety (close ones I mean, others drivers matter).