Hey, congrats on driving! I am 23 too, but still haven't learned how to drive. Mainly, because I didn't had any money or time to learn, but I am also afraid of it so much, I even had nightmares about it. Typical ones, like the wheel is too big and I can't see out of the car, crazy traffic.
But this summer my fiancé bought our first car and I accompanied him nearly on all occasions when he had to drive somewhere. There were some "hiccups"... but he got better quite fast and this is affecting me too in a positive way. I still can't relax completely, but three weeks ago I had my first non-scary dream about driving. Guess this means I am slowly dealing with this problem. So, there is hope.
No one starts out as a perfect driver, we all have to learn. At least people like us who are so anxious will be much more careful and never drive recklessly. That's a good thing.