>>2045144/adv/ could probably help you too. why are you scared of driving? how good are you at it? desu it's probably more dangerous to ride bike. and highways are actually easier to drive in than city streets
I would work my way into it. ask a friend or family member to let you practice driving in their car. if they can go with you that would be better, as long as they are not a passenger-seat driver and they let you make mistakes. or there are driving schools that do this I think.
practice driving in a safe parking lot. when you get pretty comfortable, progress to a less controlled area or a lot with more traffic and synced more smoothly with the roads next to it. not sure about this part but it might help to push your way into the next level once you get the hang of the current level but BEFORE you feel fully comfortable with it. the point is to practice getting out of your comfort zone, but idk if that would backfire. when you are good enough, practice shifting lanes smoothly when there are actually cars to look out for. keep challenging yourself with harder and harder maneuvers. advanced: when you are good, try to get access to a manual transmission car. they are significantly harder to drive.