One thing that helped me w driving anxiety is just focusing on the destination. For example, a 2 hr drive home, focus on the fact you’ll be home lol. Then just don’t even think to much of driving, just take it as a no other option thing. & most of all just know you’ll be fine in any situation. I had pretty bad anxiety to the point my gf only drove during long trips but a couple of long drives for work & stuff & I think I’m pretty good now. Still hate it but it’s not bad anymore