2oxbowgirl,
Not sure why you stopped driving but perhaps you could take short visits first where you know the road. It is really good to keep doing a body check, as I have found. We don't allow anyone under sixteen to drive, besides, is is the law here.
The only hitch we have had is that sometime we have become over whelmingly exhausted. I have been known to pull over at a safe mall or something, lock my doors and just take a little nap. It usually is a small person inside that really needs a little sleep. Sometimes it's not for very long so I don't miss my appointment. It's uncanny how fast I can fall asleep at that time when some nights it takes forever. Fortunately this need for a rest happens rarely.
Here is hoping you can find your level of comfort but know that somewhere in the recesses of my mind I have heard of Dissociatives falling asleep at the wheel and being in major accidents.
Take care,