I didn't drive for a while either and as someone with an unhealthy dose of anxiety here are a few things I did that have helped.
1. Look up your route ahead of time. Whether it's a routine trip to a grocery store or a long drive to someplace new, I used to use Google maps to plan my route ahead of time. From which streets I'd be turning onto, to how many lights along the way, to turning on the satellite view to see which lanes I needed to be in. This gave me some peace when I knew I was already in the correct lane and just needed to maintain my speed until my next turn.
2. Practice. Small trips make the habit of driving easier. Small things like checking your mirrors, looking behind you when you reverse, and getting used to the area directly around where you live can really help.
3. Don't be afraid to avoid busier areas at first. For a while, and still to this day, I'll just skip interstates or major highways if I can without too much of an inconvenience. I see no reason to battle it out with people going 20 over the speed limit to make it somewhere 5 minutes quicker. Trekking over familiar roads makes some trips more routine and less scary.
Overall you can do this. I know a lot of people who are scared of driving. But over time the anxiety will lessen and you'll be hopping in the car like it's nothing.
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