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I didn't learn to drive until my early twenties, I had the same problem, but you get over it the same way a child gets over their fears of riding a bike. It's really all about focusing on your driving more than the driving of others. I know it seems overwhelming, bur you got this, anon.
Being able to drive opens a new door to life. It's pure freedom. Nothing comes close to a late night cruise with the windows down, blaring music, and getting a midnight snack somewhere.