To be so anxious about driving?

[Gretasmyname]

Or more specifically, parking and manoeuvring.
Passed my test last May
First time pass and took my time learning
Never hugely confident and looking back,?I feel I was eased into the test a bit too much and not fully prepared for 'real 'driving.
Didn't drive at all after passing as no access to a car.
Stupidly went out a bought a pretty much new car in Sept. Thinking id get straight out there all of a sudden. Wrong.
Crippling nerves.
Worried about not being able to park.
I dont have trouble with my left or right but big trouble visualising how I'm.actually going to manoeuvre into the space.
I'm also anxious that i may need to reverse on a busy street and i wont be able to do it or I will rev the car too much and hit something.
I know I need to practice but I live in a very very busy area and nowhere is quiet to try.
All car parks are busy.
Any advice off how to safely practice?
I haven't driven the car since Dec as I feel I don't know what the hell I'm doing .

password thanks for asking.
Well!!!!
Massive improvement in the sense that i have been out in the car a lot. Slight exaggeration. A lot by my standards.
Several times a week.
Taken dc to little things like activities
Cinema
Supermarkets approx 4 or 5 times.
No where far(max 6 mile journey).
However, still only parking in huge spaces in car park or on the street.
I no longer park on the drive which reduced my anxiety by 99%.
Going a few regular familiar trips. Like to local shop. 15 min walk or about 3 bus stops away. So don't need to drive. But feeling I should practice.
I still am very limited and massively overthinking journies-where will I park, will it be busy etc etc
Yesterday highlighted my limitations as dc both had a party same time so if have had to drive one. No option to walk as too far and couple bus changes.
I couldn't stop thinking what the hell was I going to do. Until something came up meaning change of plan anyway
Huge relief. DH thinks I should do what I comfortable with-all great but doesn't help in situations that arise like yesterday.
Also I've made loads of mistakes.
Twice I've driven down an avenue with me needing to turn around. Stupid as I know the area well.
Luckily both times the avenue was quiet and I did a very dodgy reverse and turn both times.
Little bit proud in one way as it was quiet pedestrian and traffic wise but lots parked cars.
Also drove once without seatbelt as I stopped as jacket bunched up and forgot to put back on.
Also, I came out of supermarket v.early in the morning and as I turned out I drive up the kerb. No one about or traffic but was bad of me and I couldn't stop thinking about it after.