Oh my god, I talk to myself too! 😂 I have imaginary arguments or sharing gossip, oh my god can't believe I have admitted that!
I used to drive on motorways all the time, sometimes hundreds of miles on my own. And then in my mid twenties I had a few panic attacks whilst on the motorway, felt like I was going to pass out at the wheel and it absolutely scared the shit out of me. I carried on local motorways and dual carriageways for a bit, but gradually I totally let the fear take over me. Then I had some health problems which caused me big anxiety and I basically could barely even go on a dual carriageway and resigned myself to definitely never driving on a motorway again. Part of the problem is that I live quite close to a motorway so I constantly avoiding the motorway if that makes sense? And for me, the fear comes from not being able to stop anywhere if I do feel like I am going to pass out, which makes it even worse. Its totally all in my head, I'm a good driver and when I'm not thinking about The Fear, Im quite confident.
Anyway, last year I got a job where I had to go on the motorway for a few junctions unless I wanted to sit in a shit load of traffic every day. At first I sat in the traffic but I was getting more and more pissed off, so I tried a junction, then two, then three.
I still do get occasionally panicky, but I recognise it better now and I don't let it consume me, just let it pass. My main strategy as I said is talking to myself. I have a particular conversation that I break out if I really feel the panic rising! But also the radio etc anything that is a distraction from the fact I'm going at 70 on a road that I can't get off from until the next junction!
I'm still not confident to drive around carefree anywhere I want, but I am doing things now that a couple of years ago I thought I might never do again, and the thought of driving on the M25, whilst still a way off, isn't totally out of the question now. Like you, I want to be able to drive my kids anywhere we want to go.
Sorry that was long and probably not all that helpful, but quite cathartic for me! 