I deal with my fear of driving every day. I was in a serious car accident when I was a new driver, and I developed PTSD as a result for several months. I was absolutely terrified of even driving to the neighborhood across the street so I would walk to my friend's house there instead of drive even though it took me about 20 minutes. When I would sit in the passenger's seat, I couldn't trust anyone to drive and I would always look around desperately, thinking someone would hit us.
I went to a therapist hoping for a way to get over it. She told me that I needed to start driving, hardcore. I hated her answer, but I did it. I had to drive over an hour and back to work everyday on the freeway that summer. I was tense the whole way and convinced I was going to die the whole time. It took awhile for me to get used to it, but I am much better than I was then. I still get scared about driving, but I no longer feel extremely sore and tense after I drive. I no longer live in dread the whole day before I have to make the smallest trip in the car. I still hate driving, and I am working on it.
What really scared me when I was going through this was a story my friend told me. Apparently, her grandma had a bad accident when she was a new driver, too, but she never drove and made other people drive for her. Now, she is just as afraid as ever and her fear is disabling. I am so afraid I will be like her. It motivates me to keep working on my driving.