I don't know, if you really had a choice in the matter currently would you really be choosing for it to get in your way? I just feeling by saying you're letting fear get in the way it puts some blame on you which I don't think is necessary. If you are unable to control anxiety on your own maybe meds would be an option, however with the driving thing you'd want to discuss that with the doctor since some meds might impair driving...but it depends on the person most meds say not to operate machinery or drive till you know how it effects you. But aside from that maybe going to therapy or trying to learn some coping techniques to calm yourself when the anxiety starts would be another idea.

I am 25 and still have a permit, haven't driven in a long time but I'd know how if its automatic and not manual...but I am afraid my anxiety/ptsd and autism related sensory and processing issues could make it dangerous so kinda stuck taking the bus and getting rides from people...wouldn't be able to afford a car or gas anyways though. If nothing else is there public transportation you could take to get to school and back home?...didn't really sound like it since you mention having to take the high way.

But I hope you are able to get through this and be able to drive with minimal distress.