Driving anxiety is a horrible feeling. I've been through it. it's not nice. What you have to do is to release the anxiety, things that might have happened in the past. release it all and then what will happen is you will see some new found confidence. Things that made you anxious before will no longer make you anxious.
So you have to release it first then see what happens.
Sometimes whilst anxious we still drive and try to be bold, but it's a horrible feeling. it's much easier to release the tension then naturally everything will improve. wait and see