Driving has been an issue for me off and on and I think it is a common issue with people who are anxious.

Having my husband teach me anything (i.e. golf) resulted in an absolute failure. Too much emotion and expectation involved ... any chance a friend could go out driving with you? Start small, like back roads in low traffic areas , non-rush hour and make the sessions short to build your confidence. Of course you will feel shaky but I bet your actual driving will be fine.

Anyone who is raising a two year old, graduated from univ. and is in a ready to work in a dream job has the ability to drive ... you just don't believe you can do it and the only way around this obstacle is through it. But get some loving support and take baby-steps. The upshot you will feel when you get through this will be amazing ... I've been there.