Everything becomes easier once you done it again, again, and again, then it'll like second nature. I got over my fear of driving this year, no I would say I'm weak at parking, but I go to empty places to park. I got over my fear of high ways too, although you got to be on your game when you drive.
I'm not going to be able to be those type of people who eat, talk, listen to the radio (unless its elevator music; like I would listen to Christina Aguilera boring songs... instead of her good songs). I don't know how they do it.
The reason why I started driving was because I needed it as a skill because Uber was getting expensive, and I want to go to places more easily than being coop in my room.
This song could help you in your situation.... ***I am a huge Twiggy 'as a musician' fan; I love her songs**