Another professional driver here: thank you for saying it. Makes my comment a lot shorter:

In addition to what 👆 this person said, my partner does not drive for very similar reasons to why OP doesn’t. I would encourage op to try it again in a low traffic, low pressure scenario, away from your parents, and see how you feel. If you still don’t feel up to it after a few times of doing that, start looking for a place to live where driving isn’t the only way to get around.