This is sort of an older thread, but i figured i'd try to add a little bit of thought to it.
When i was first learning to drive i was extremely anxious and would get tense to the point that i'd wake up the next day sore. My dad was the one to teach me how to drive, but he was extremely strict. I knew he was a good driver, so if i didn't get his approval he would always say "If i can't trust your driving, you will never drive my vehicle and i will never invest in a car for you either." So rightfully so, my 16 year old self was scared i'd never live up to his expectations.
The way i overcame my fears of driving were really just to drive more and to specifically drive by myself. Having other people around just stressed me out even more. If you can go out during quiet hours of the day or even at night for a quick drive around your area it might help to settle your nerves because then you can just focus on you. If you're scared of highways, then night driving might also help because less people will be on the highway too. Now that i'm very comfortable with driving, i actually find night driving to be relaxing when i'm stressed and just need an escape.
It might also help to be driven by other people. Watch to see how they handle situations. Watch how they sit, where their hands are on the steering wheel. Are they a relaxed driver? How do they handle a 4-way stop, or a left hand turn at a light, or speeding up to merge into the highway. Watch what they do and picture yourself doing the same. Then try it out. Do you feel the difference between your driving and theirs? What do you need to work on to drive like them? And then go from there.
If you're worried about speed and reaction time, set some time for yourself to practice smooth braking. Find an open parking lot and set a course for yourself. Sounds silly i know, but i really found in the beginning that if i could learn to keep my speed steady and develop a skill at even braking, it made driving all the more easier because then you got to know your vehicle and could feel how much time you need to do something. Every vehicle is a little different, idk how to explain it, i just usually need a moment in every new vehicle to get used to the new experience.
I've become a very experienced driver from my beginnings at 16 to my nearly 24 year old self now. I've done several very long cross-country drives by myself spanning +36 hours a single way. I can handle any craziness city driving throws at me with crazy drivers and tight parking lots. I've driven through whiteout snow storms, heavy rain, sleet and hail, every weather imaginable. I'm the most confident out of all my friends when it comes to driving. And i've become very relaxed when i drive, but also a very steady driver. I don't jerk the wheel or have choppy braking. I would describe myself as a confident but aggressively defensive driver, meaning that if i need to take my space i will but i am observant enough to not do anything recklessly. But none of this stops my dad from still picking apart everything i do when he's in the passenger seat. I also treat my vehicle like my baby lmao, i take such good care of it because i think a big thing is being able to trust the machine you're using too. As soon as i sense something is off, i take it right to the mechanics and get it worked on.
my best advice is practice, practice, practice. Do the little things first and you'll see a change in the overall picture. But you need to get out and experience driving firsthand. Either as the driver or as a passenger. Be observant and try things out. If you can do lessons, then a good instructor will also explain how to approach things like parallel parking, or backing up into a parking spot etc...
I hope this helps a little, or at least gives you something to think about! :)
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