To be really scared to drive?

I am inclined to agree. Nervous drivers make bad drivers.

I disagree. I went from being scared to even be a passenger in a car to being someone who is even happy to drive abroad
It just takes a bit of tenacity and a decent and patient instructor

When I do a new journey and it looks tricky I use Google, look up directions to X and then it will give you the option of step by step instructions with photos. Go to the motorway junctions and look at the photographs of the lanes in advance of your journey, this should help you pre empt the Sat nav.

Definitely learn to drive
And get proper driving lessons and motorway driving lessons. Even after you pass your test you can get further lessons if you are nervous. That's what I did. I had motorway driving lessons after I took my test and went from being nervous about motorway driving to really enjoying it

Honestly - based on what you’ve said I think we might all be safer if you don’t drive. Sorry OP.

Get some more lessons, and ask for motorway practice.

And it's absolutely all about practice. After I passed my test I had to drive about 45 seconds up the road to pick my family up from church. I was quaking in my boots. Now I drive in a mad place in the middle of a mad town and never break a sweat.

It took me 11 years of very very on again off again lessons to pass my test. Passed on the 3rd attempt, in an automatic. Sounds bad, right? But against all odds I'm now a very confident driver. I can advise on changing lanes as it worried me too. I find that sat nav is really helpful for most things, however, road marking are better for understanding where I need to be and why
For example my sat nav might say "take either two lanes". I will look at the sign as I approach the roundabout and look on the road to see which lane is going where (for eg A406). That makes things much clearer in my head. I know this sounds basic but it gives a better perspective on where I need to be. I have no sense or direction and learnt to drive using phone/sat nav to navigate so had to unlearn that, if that makes sense? Honestly you can probably do it. Find an instructor whi makes you feel confident. I had a fair few who were quite power trippy and very critical and that was hard. Then I found a lovely calm woman who refused to engage with the belief I had that I "just couldn't do it". Good luck.

It's easy to follow the motorway situations you mention because you look at the signs and they tell you which lane you need to be in according to your destination.

A sat satnav will also tell you, step by step.

Parallel parking is also easy really, your instructor would teach you how to line up your car correctly and when you need to turn your wheel etc. You can also watch videos.

It seems hard when you're a learner but it's really just practise.

As others have said get some driving lessons. Be honest with the instructor and s/he will take you out and help build your confidence. It’s definitely worth throwing a bit of money at!

Er… where did she say she passed her test?! OP, I mean this kindly but you probably shouldn’t be driving if you can’t grasp the basics after several lessons. Cars are lethal weapons and I’d prefer it if nervous drivers just didn’t put other people’s lives in danger.

I don't think she's passed her test!

I passed my test 35 years ago, but never lived anywhere that involved needing to go on a motorway, so I grew up scared of them and would choose public transport if I was going further afield. That was until I had no choice but to drive my son and all his stuff to uni. I really panicked about it, but in the event it was easy and I ended up choosing the motorway over other routes after that.

I would organise yourself some lessons, including motorway driving, before you move.
Also take advantage of the many good videos online about motorway driving etc.
Then, once you've moved, find yourself a nice car that you feel comfortable with and get a few more lessons. Make yourself drive to things - easy stuff daylight non rush hour to start with. Practice supermarket parking in the spaces furthest from the supermarket - and drive to it in DPs car for now

You can do it - you passed your test after all!

Start driving lessons again and do some learning, understanding lanes is pretty basic. 5 years is a long time, just start again with an open mind ready to learn