J.S.
I've had my license since I was 16 years old, but I did have anxiety for a while. What got me over it was practice. Lots of practice.
Then several months ago this whackadoodle ijit hit my car when I went to get an Rx (my kids weren't in the car but could have been) and it caused a lot of driving anxiety. Especially since for two months I had to drive a rental car that barely fit my brood, and then I have to pull out onto that street every single time I leave my house. I minimized my driving frequency and couldn't help but dwell on the accident and what if my kids had been in the car. But that's not productive thinking.
Luckily I already go to therapy so my therapist helped me reteach my brain not to obsess. It made driving with my children very anxiety-inducing and I was having panic attacks in the car. I literally ended up telling my brain, "Stop. Shut up. You can drive." I still have to remind myself sometimes, but I can drive now without panic attacks.