IWTL to be a confident driver

I've had my full license for about 5 years, driving for 8ish, and rarely drive anywhere that isn't to and from work. A tiny suburban trip that I could walk, but I drive to justify owning a car. I used to love driving and in the first few years had no real fear. For reasons, I stopped driving for a year (2023-24) and since returning I've lost that spark totally and find driving just fills me with anxiety. I'm terrified of the motorway (highway) and never go on it or do any long journeys.

If I have to go anywhere outside of work I usually panic and either find an alternative or just don't go. I briefly dated someone a 20 minute drive away and got €25 taxis each way to avoid taking my car. Most recently I turned down a change of jobs, partially because it would have involved a different drive. I can't pinpoint what it is, I have never been in an accident, and am fully in control of my speed, awareness of stopping distances etc., but I panic in new locations and on new roads. I worry I'll go into the wrong lane, hit something while parking somewhere new, etc. Writing it down makes it sound quite ridiculous I know.

It all just gets me so down. I want to be a good driver. I want to go off to cool places and bring my dog with me. My country is beautiful and I've only seen a fraction of it. I want to go on drives at the weekend to the beach, hikes, etc. My dad was the best driver I ever knew, he drove anything and everything and would go anywhere in a vehicle and I suppose that's exactly what I want.

Any tips very much appreciated.