Hi there OP.
You could have been me 5 years ago.
I could write pages and pages, but in summary: passed my test at 17, drove for my job for 18 years, from one end of the country to the other. No problems at all. One night, overtired, too many coffees, had a panic attack on the M6... went from competent to a wreck overnight.
Didn't drive on motorways / A roads / many places far from home for 10 whole years. 10 years.. OMG. It restricted my life.
I tried counselling with 'normal' CBT therapists.. no good.. I remember one who was about 20 miles away, giving me directions for the M40.. I thought 'hmm.. perhaps I didn't explain to you properly what my problem was'!!!
Anyhow - long story short.. I eventually googled something and ended up with read this article in the Guardian that was written about 13 years ago.. I had around 5 sessions with Driving Solutions, and that was is. I don't think they are around anymore, but I bet another firm / similar organisation will be. They were two people - Damien & Carol - he had been a police advanced driving instructor, Carol was a therapist, they specialised in helping drivers who had had some kind of trauma (be it an accident, a panic disorder or similar).
I'm attaching the link because the content may ring bells with people and you will realise that a: you're not alone, and b: your problem is solvable.
www.theguardian.com/theobserver/2002/oct/20/features.review37
What I will say is that in my instance, although my panic / anxiety manifested itself mainly in driving on 'fast' roads, it wasn't just limited to that (I know this now, I didn't really at the time). I was avoiding many situations where I 'couldn't escape / get out' and seeing Damien / Carol made me realise that although driving was the physical sense of the problem, I needed to address the other stuff too.
Which I did, and for the past 7 years, I've been back to normal, driving anywhere, everywhere, nowhere - whatever is needed and whenever needed.
DO NOT GIVE UP. Not driving on motorways, A roads, over bridges, under bridges, whatever your particular thing is, is debilitating and unnecessary. Seek help and sort it out.
THE END!!!
Good luck to all xxxx