I am always afraid (how to cope with being nervous,shy and afraid)

I wish I could express myself fully here but that would make this post too long so I will try to make it as detailed and short as I can

As a child I have always been quite timid, not overly but timid enough. I don't know if it's because I was raised with over protective parents but I am what you can call a late bloomer in terms of learning things I should have at an early age. I was never the rebel, always respected and obeyed my parents and pretty much a stay at home teen.

With that being said, I am now 23 years old and I am in that stage of my life where I am learning,exploring and living life on my own (well, next to my husband). We moved to a different state, I don't have any family or friends really here but that's not my worry. My worries is my way of being. I am constantly feeling afraid.

For instance, my husband taught me how to drive last year. And I already have my license but I am deeply afraid of driving. I constantly get panic attacks, I have to drive most likely by myself next week and I feel so nervous just thinking about it. My husband has been there for me, I should prove to him and to myself that I am able to take the car and do the groceries by myself. Even his mom, I know she talks about it how I am always locked inside the house and how everyone tells me to go out there and do my life. Loose the fear of driving. I have drove before but with him next to me, in fact we actually moved closer to his job so I can take the car and go to school, do my errands. But I am soooo afraid of it, my mind tens to blank out when I feel afraid..and constantly thinking of doing it on my own , making a mistake I wish I could write a whole essay about this feeling.

Aside from that, there's the regular nervousness I encounter throughout the days. I've become real clumsy and just anxious. It is everything I DON'T wish to be.

I can be home alone which I am 90% of the time, I am okay with it..but if I hear a noise I am constantly checking or thinking about someone breaking in (This is not normal). I even do things like lower down the tv volume just so my neighbors won't mind the noise (why do I care so much!)

Then there's talking to other people, I sort of stutter or do it nervously at times. I don't trust many people and sometimes feel if I am alone and see a man I think that he wants to do something to me.

I wish I was more easy going,relaxed,social and free. I have always wanted to feel free..when I lived with my parents I wasn't allowed to do much, they were so protective and now that I am at the most liberal stage of my life, I restrain myself. I hold back from doing things I want to do. I have always described my teen years as feeling like I lived inside of a bubble..I guess now that I am finally outside of that bubble it is difficult for me. Should I see a psychologist?