I have been driving for over 10 years. I live rurally and needed to drive so I wasn't so isolated with my then 2 year old.
The problem is that I only ever did local journeys and I developed anxiety about driving any further than this.
In the last couple of years I have done longer journeys to different places but still not long distance, never on a motorway or in a city.
I am driving solo to our nearest city next weekend and will have to drive right into the centre to park. I have done the journey many times as a passenger, I know the route etc.
I am sick of missing out on stuff because of this stupid anxiety.
So if you got over this yourself please come and talk to me about how you did it!