Me. Sort of.
I posted about it last year so feel free to have a look. Basically I passed my test when I was 20 and never drove again because I was so terrified. At 36 I had my second child and I knew something had to change. I wanted to drive so badly and felt like an utter failure because I couldn't do it. Every time I had tried over the years I was overcome with anxiety and couldn't take it any further.
Anyway, I was totally committed to overcoming my fear because getting around with two young children was a hassle and I wanted to teach them to overcome their fears, so had to overcome mine.
I bought a car. Brand new (go big or go home...) and after sitting in a million cars, the only one that I felt ok with and met my needs in terms of car seats. I started small, a couple of local streets with DH in the car and worked up from there. For a good six months I pretty much had an anxiety attack every time I needed to drive and was left shakey for hours after.
It has now been over a year and I drive. I don't have a panic attack and manage ok. My driving world is very very small still - I only drive to work, the nursery run, supermarket, doctors, some friends houses, the park, etc and have still never been on a motorway. But honestly I'm ok with that, I never ever thought I would get this far. I still don't like driving and sometimes get scared but I love the freedom and convenience.
Anyway, that's a very long way of saying it can be done! But you need to be 100% committed and you need to accept that you are going to be afraid. I literally had the runs every time I had to drive at first, but I kept going. It's something I am very proud of.