I used to drive quite a bit as a part of my job. (I haven't been employed though for 15+ years.) Since then, for a variety of reasons, I have not had occasion to drive much at all. In fact, I probably haven't been behind the wheel at all for a couple of years. So I'm quite certain I would have plenty of anxiety if I started again. So, from my perspective, it's mostly a matter of doing it as much as possible. The more you drive, the more comfortable you become with it.