I know what it's like to have anxiety issues and drive. I drove around illegally for years before getting my license because of anxiety issues. I'm surprised I was never caught.
This might sound corny, but I think it is worth a shot. Try getting into meditation. Do it for at least five minutes every morning. When you drive your car, imagine yourself as being one with the car instead of you being a person inside a dangerous hunk of steel operating it. It helped me get over my anxieties.