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Many people feel driving anxiety for different reasons. It could have been past bad experiences, fear of traffic crowds, lack of self-confidence and lack of cocentration etc. Find what part of driving t you enjoy and it absolutely gets more comfortable the more times you exercise it. Initially I was afraid to drive alone for a while. I am terrified of winter driving and I avoid it sometimes even though i know it will never improve when I avoid it. Just take baby steps and it will get better. Its actually not the fear of driving it is more likely a fear of crashing or not knowing what to do.
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