I have different anxieties related to driving and have found that confronting them helps to an extent. For example, I used to consider myself incapable of driving in dense, city traffic because I would get so panicked. After exposing myself to it, I realized it is something I can do even if I don't care for it. You don't have a lot to lose by buckling up before the engine starts or waiting for the driver in the car. You can always change your mind if it gets to be too much.