Good Morning,
I used to and still do have some issues with driving on freeways but when my sister was sick and in the hospital in Minneapolis the only way for me to get there was to drive the freeway so I just did it.
For 10 months I would make the trip however I never did feel comfortable and was always worrying about the trip home...........the old anticipatory anxiety. I don't have a great answer for you other then to take short trips on the freeway at 6:00 AM on a Sunday morning when there is very little traffic.
Hugs
Kitt