Driving…will I be able to again?

I’ve been dealing with severe agoraphobia/panic for the last two years and the biggest impact is driving. I am stuck and unable to drive outside of my immediate neighborhood. I have severe guilt and want to be able to drive my kids and get back normalcy.

Has anyone else regained control and the ability to drive normally? How did you get there? I’m on meds and regular therapy but feeling defeated. TIA