There was no need for you DH to be so nasty about it, so I'm not surprised you feel rubbish! He really should be more supportive. If you were my friend, I'd happily sit with you whilst you drove, or helped you with parking.
I think that if he's not prepared to help you overcome the worries, then def book in for some lessons just as a refresher. Small steps...first in the instructor's car as it has dual controls, and then your own car.
I do understand the anxiety - it took me hitting menopause before I started getting bouts of anxiety (particularly with driving, even though I've driven for years and always enjoyed it!) and bloody hell, it's crippling at times! The only way that I could get through it was to give myself a bit of a talking to (and I bet people in the vicinity think I'm nuts, as I do literally talk myself through things!)...."come on TicTac, get a grip. You've done this before, you know what you're doing, you know the route, you do this first, and then that. Take your time, get from A to B safely. Don't rush things etc". Of course, everyone's different, but that's how I deal with things.
Don't know if this would make you feel better...
-I learned to drive in a manual car with no power-steering, years ago (no problems, always enjoyed driving). Drove all over the place, did long commutes to uni and to placements when I was a student nurse. All rosey. Then menopause hit. I would freak out even driving my normal/work car....and reversing it into my drive! Overcame that (HRT was a life saver!).
-I got an old camper van earlier this year, but my work car is an EV (and the main thing I've driven in past 5yrs has been an EV, ergo an automatic). I freaked out about the gears. And then I freaked about hill starts, and other drivers being cross with me because the van is SLOW. Ok, it's a T2 so WHOLE different ball game with driving, but I had to get my XH to come out with me for a couple of journeys, in order to convince me that I could actually drive the bloody thing.
-Same with motorbikes: did my training years back, didn't then ride for years. Decided I wanted to start riding again. Passed my CBT, but I freaked out with geared bikes (which I could ride before with no bloody issue!)...Then freaked out with the little moped I was riding. Again, XH came out with me on his motorbike for a couple of rides.
Our brains knows we can do it (or we wouldn't have got our licenses), but it's the practice and the getting used to stuff again. I can tell you that with both the moped and the T2, I am feeling more confident each time I take them out. It just takes time, and - for me - a bit of planning. What route will I take, which roads do I feel more comfortable on etc. For the van, I put some stickers on the back: "slow vehicle", "keep your distance" etc, and I put a sat nav in it, so I don't freak about no swanky Apple CarPlay screen to tell me where to go (if it's a new/unfamiliar route). For the moped, I had a side stand and top box put on it. Small stupid things, but they're things that help me. Initially I did small short journeys, NOT during rush hour, and then built up. I've not yet done night driving with either, but that's my next aim.
Does your car have parking sensors or a reverse camera? Those are things that I want fitted in my van!! My work EV has them and they're bloody brilliant as a bit of support/back up. Another thing you might laugh about...my work EV has this automatic parking thing (where it senses a parking space and parks the car for you)...I've been too scared to use it!!