The thing about learning to drive is that it's done under close supervision, you are being watched the whole time by your instructor. You are driving a car with some nice look at me I'm a learner driver L-plates... Probably displayed prominently on the roof. You feel like everything has to be absolutely perfect in order to pass the test, and all eyes are on you.
It's difficult to shake that feeling that you are being watched by everyone and judged every single second that you are in the car even once you've passed the test and are out on your own (and IMHO it's worse with a passenger who is experienced driver... You'll still feel like you're under the microscope!).
The thing is that nobody really cares what you're doing so long as it isn't dangerous or illegal.
I have to reverse my van into the yard at work, that involves blocking the narrow (but still busy) road while I complete the manoeuvre... Nobody is ever angry at the wait, they can see what I'm up to and they sit patiently until it is safe for them to go.
If I have to turn the van round on a road to go back the way I came (road closure/roadworks etc) it doesn't matter if my 'three point turn' has a few extra wriggles to get turned round, if that's what it takes to do so safely. I don't have to be perfect, I'm not being assessed.
You don't have to be perfect, you're not being assessed.
Your parking might take a couple of goes to get straight. Fine. Take your time, and if it's not happening, just pick another space. The world doesn't point and laugh if you have to park a little further away and walk the last bit.
Turn in the road needs a bit of a wiggle sometimes instead of a neat 3-points. Fine. Watch others, you'll see some of them do it too.
You passed the test, so you can do this.
Let go of the nerves, you don't need them anymore!
Get out there, drive safe, don't worry about the rest.