Early in my career, I found conferences to be so overwhelming that I'd sometimes just hide in the bathroom, go into an anxious spiral of fear and guilt, and then try to convince myself to get out and talk to at least one person. Watching how other people seemed to enjoy these events and easily talk to everyone made me think something was wrong with me.
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.