I do want to drive but I'm scared to do it

Im 18 and I have sever anxiety issues and I don't know if I should put it in here but I have a disability not anything bad bad here a clue my mind works different than yours and its starting with a ends with sm, and I don't want to ask everyone in my friends or family to drive me to wherever I need to because they have they couldn't have time to pick me up and drop me off. And I know some things about the roads but not signs well most of the signs I don't know if I can drive but I don't get very panic attacks often it only happens when I get really overwhelmed, I take medicine for it and I don't know if driving is the best for me or I can drive very slowly and don't drive on busy roads like 95 I do want to drive but some of my family members isn't the best option for me but I don't want to ask everyone that are my friends or family to let me have a ride.

And I never got my permit before I'm waiting until I'm graduating (I have to repeat a grade because wasn't mature enough for school I don't know why just don't ask me why I don't remember why) im just wondering if I can drive with my sever anxiety issues and my disability I do want my permit before I get my drivers license but I don't know if driving if I can drive with my sever anxiety issues and my disability?