Being able to drive yourself is a great skill to have. When I just started driving I had some inhibitions too, particularly when faced with unfamiliar routes and highways. Additional training plus alone-time behind the wheel after you get your licence(no one yakking in your ears and making you more nervous) usually sharpens your skills, builds confidence and reduces some of those inhibitions.

Please ensure though that you are mentally fit to drive. Driving a vehicle is serious business. It requires focus and dexterity. Losing focus for even a second, hesitating on a busy road or braking too slowly in a situation that requires immediate action can turn that machine into a weapon of destruction.