I was in a terrible car accident as a teenager and had the type of anxiety you’re describing. I agree with others that repeated exposure to what you’re afraid of, in escalating levels of difficulty or stress, is the way to master your fears. Practice little by little - you’ll be amazed at what you can do a year from now that seems impossible today.

It’s really easy to give up at first when it seems so scary. Accountability to another person helps. My mother got me up early every day during the summer after the wreck and made me practice driving for two hours before I could do anything “fun” for the rest of the day. I hated it at the time, but now (decades later) I’m very glad she did it. I’m sure it wasn’t fun for her either.

Since your family is encouraging you, maybe one or more of them would go with you for driving practice?

Also, thinking back I remember that I was consumed with anxiety when I first started trying to get over my fear. Anxiety as a reaction to traumatic stress is normal. It was in the 90s so we didn’t really know what PTSD was, but looking back it was definitely a factor for me and it may be for you. I didn’t seek therapy then to help deal with it, but I wish I had. Maybe it would help you. A good therapist can teach you how to manage anxiety so that it doesn’t overwhelm you and to challenge the thought patterns that are reinforcing your fear to non-useful levels (some fear of driving is good. Too much is not.)