It has been my experience that driving fears can be overcome or at least improved upon in a variety of ways. Taking small steps by driving a little farther each time you get in the car is one form of therapy. The anxious driver often suffers from a form of Agoraphobia often leading to panic, so staying connected can be very important. Always have a cell phone with you. If you are going on a long trip, you might ask AA to map out medical centers along your root and, lastly, consider a type of service such as OnStar. This can even be put into none GM cars. This way you are always connected by the press of a button even when your cell service fails. All of these things should help to alleviate some of your driving anxiety.