I think driving anxiety is pretty common. Mine came up after an incident that happened after I had been driving comfortably a few years. But it's also situational so I'm able to do things, but sometimes have to take different routes. Do you know what part of driving triggers the anxiety? I think that is the key to figuring out what could help you overcome it. For example, if you are nervous that your reflexes aren't fast enough to respond to something, perhaps getting in-car lessons with a driving instructor, who also has a peddle would help.