My first is to work with a therapist on techniques to manage stress while driving. Something I struggled with at first was my arms and shoulders tensing up, which made steering feel both difficult and nerve-wracking, and also made it genuinely harder to do. The second is a little weirder. But if I could point to the one thing that successfully got me on the road, it's honestly this one.
My two cents is that I try to look as inward as I'm looking outward. When I'm anxious or scared, I try to cut back on the caffeine and other stuff. Understand that going straightedge and sober is a weapon and shield in the fight for reality. It's an assertion of independence and responsibility for the health of the community.
The 5-4-3-2-1 coping technique helps ground you by encouraging you to identify your surroundings with your senses, helping regulate anxiety and stress.