You may want to consider working on that, one small step at a time. You may not drive (my spouse and I don't own a car, and have not for the past 20 years) but you can work on your anxiety: we use public transit daily (and we're very shy and anxious people both her and I), it just took us a lot of patience (and attempts) to get used 'to be' in a bus or a tram, or whatever.

If you want things to change, you need to focus on those things you can change, even one small step at a time, because things won't change out of themselves, that's very unlikely. Sorry if that sounds a bit too much like some old fart advice... That's most likely what I'm ;)