Hi there and welcome to the forums!
I went through the very same thing.....driving used to be my safe place and then it became my worst fear. What helped me is just taking short drives....post office...corner store...etc and then turn around and come back home. Have the distances become a bit longer each trip.
I was able to do it alone as I felt more comfortable....have you tried this? The feeling I got inside when I returned was awesome.....made me want to drive further each time. Take it all in baby steps and see how you do.
Know that you are not alone.....that in itself is such comfort. Think of all of us here sitting in the backseat cheering you on too

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Keep us posted and good luck!

Heather