CPF,
Hi there and welcome. One of the frustrations with anxiety is that it can feel like you are locked up. I dont know anything about you other than what you posted here, but I having been in a similar situation for quite some time I would venture to say you threw away the key when you stopped driving.
Confronting that anxiety will give you some freedom, it does take practice. I truly believe we feed our anxieties when we stop doing something, like labeling driving as dangerous and telling ouselves we can't handle it. Actually, you can handle it, you know you can.
I recommend getting behind the wheel and taking baby steps, drive around the block one day,congratulate yourself and celebrate, then work yourself up to hitting the highway.
Wish you the best of luck and hope you are feeling better soon!
Joshua