Before the covid there was whole rows of empty spaces. Ones I could drive in and straight out.Why wouldn't I do that if I can
Because you can't carry on driving the rest of your life like this! Come what may, you are going to have to get over this. It is ridiculous that you think this is OK. It is not.
I meant even if I wanted lessons I wouldn't be able to with the current situation for a very long time
You're making excuses. It might be just a couple of months, who knows. Your NO to more lessons is ridiculous. If you can do it with an instructor, you can do it full stop. And you have to go for it, the day after your last lesson with an instructor and you've done it with ease. Drive to a supermarket, drive into a space, reverse out of it. Avoiding it takes you back to square one. Next day do the same again. Even if you don't need the supermarket! Repeat daily until you do it without thinking.
Saying the instructor was no good even though you were fine doing it for for him is just an excuse for avoidance from you.
Your DH did you a disservice coming to get you. If he hadn't you would have had not choice but to get out the space. And you could have pat yourself on the back and thought 'there we go, I managed it, next time I will be better'.
I liken your situation to me and public speaking. Decades ago I embarrassed myself in speaking to about a dozen people at work. A very long time went by and I had a new job. And I actually had to get up and talk to about 50+ people. I had to do it. If I hadn't I may as well have given up my career, there was no avoiding it. The first time was seriously awful, but as time went on, I did some breathing techniques and got through it and actually got really good at it. Before I retired I stood on a stage in front of 150 people for 2 hours. So proud of myself looking back.
You can do it. But stop avoiding the situation because it will become such a 'thing' that you will never ever conquer, and to be honest you should give up driving if you don't even try or call your husband or whatever.