I passed my test at 17, was a pretty confident driver until my mid 20s then didn't drive as much. Eventually I only drove a few times a year and had very little confidence.
It was the catalyst of my dad being diagnosed with incurable cancer at the end of 2017 that made me get back on the road in my 50s. Living in a rural area with virtually no bus service it is essential to drive really, and relying on my other half to ferry me or my parents isn't always possible. I bought a small basic car that felt good to drive and my parents bought me a satnav for my birthday. I started with small trips to familiar places and within 6 weeks drove a 500 mile round trip to visit a friend.
Since I now drive a lot more for work and need space to carry stock I have upgraded to a newer, larger car with inbuilt satnav, front and rear sensors and a reversing camera. I LOVE that camera, it really helps me.
I am still anxious about parking or getting lost on routes I don't know. I never try to parallel park. I google the hell out of new routes and use streetview to scope out junctions and parking possibilities. I will go a longer way round to avoid tricky routes e.g. I went a longer way home after an event rather than try to turn right onto the A1 (horrible dangerous road that I try to avoid if possible, I'm fine with motorways and other dual carriages).
I put my destination in the satnav always, even if I know where I am going. This is a new rule I imposed recently following an unexpected road closure when I was taking my mum for a hospital appointment. I knew other routes were also closed so was in a bit of a quandary. We got there in the end, but were 10 mins late owing to entering the town on an unfamiliar road which satnav would have taken care of. Similarly I add alternative car parks into the satnav before I leave in case the nearest is full. I also tell people I'm anxious. I have had lovely people guide me in and out of tight spots at busy work events. More people than you realise are nervous about driving but don't like admitting it, you will get more sympathy and help than you think.
I refuse to drive cars I am not comfortable in. I need a high seat position, big windows and a short bonnet.
So, my advice is get a car you feel comfortable in and start slow, building up your confidence gradually. The once a week trip to work sounds like a great start. Try not to worry about holding people up. There will always be dickheads in a hurry who get in a strop, whether with you or someone else. It's a them problem, not a you problem. Just stay calm and be safe.
I am probably going to check out those videos too, I can still use help improving my confidence.