Hey mnlady,
I feel your pain as well. I suffer from anxiety mainly due to driving right now and it also holds me back from doing certain things, I am still learning though but I try to avoid it most of the times. I noticed you said you usually get the panic attack while driving so would you say it occurs once you notice the traffic gets busier and there is a lot going on?

I wish I could tell you exactly what to do to change/improve that fear but I am still working on it myself. Practice,deep breathing and some times smooth music helps me.

Best of luck hope you're able to overcome this, as I am sure you will !