Hey there, digital neighbor!
I'm so sorry for your troubles.
I think I can somewhat relate. My parents were also emotionally abusive and I stayed in my little shell until college. I've cut myself when the anxiety got too much, and exaggerate things (not intentionally, of course). I shake like a 1992 Ford Escort when I get pulled over. And drinking is mixed for me: it can make the hole I'm sinking into bigger or smaller.
To address driving more specifically, I used to have this horrible "habit" of checking the rear view mirror about every three seconds when driving. I was terrified of pissing someone off (which is different than your symptoms, I understand). No doubt that got dangerous for my own safety.
I mean, labels are nothing more than that--labels--but they can be helpful sometimes. Turns out I had massive anxiety. Seems so obvious in retrospect.
Anyways, post back and I'm sure we'll be able to find out something that works for you.
Keep your head up!