I also used to (somewhat still have) this problem. I think part of it is confidence. If I knew I had to drive somewhere, it used to really freak me out days in advance. But once I actually did it, I realized that it's not that bad. I also tend to avoid driving situations that freak me out. Like I really hate driving in cities in rush hour, so I would leave really early in the morning and intentionally come back really late at night so that there is no traffic. I hate driving in heavy rain, so whenver it pours, I just pull over and wait for it to stop. I always leave plenty of time buffer so that I am relaxed about driving (which means I usually get to where I need to be an hour ahead of time, so bring a book or something, haha). I never overakte people, even if I am behind a truck or something, I just stay there, makes me feel more comfortable and less stressed and I don't mind going slow anyhow. I always change lanes WAY ahead of time because I get very stressed out when people have to let me in later on (I have taken many long detours due to not feeling comfortable changing lanes at a later point, lol). I get very stressed out when I have to park on the side of a busy road or parallel park, so I just don't do it. I drive a mile further to park somewhere in the middle of nowhere and then walk to where I need to be, just reliefs the stress. Also in parking lots or parking garages, I usually drive around until I find a spot where there is no car parked on either side of me. It's not that I don't have the skill of parking, but if there is a car behind me, I just get really stressed out if I take a bit too long or have to reverse, I just hate it. I never drive with the radio on because I find it distracting. I try to drive alone or only with people really close to me because I always have the feeling that other people in the car with me are judging me and that makes me nervous (I know they probably aren't). Over the years it has gotten a lot better, so all I can say is that you just have to drive more and then gradually you will feel more confident. You are probably not a bad driver at all, probably you just have no confidence, the more you do it, the better you become.