Being scared to drive is kinda ruining my life

I genuinely don’t know what to do. My bf refuses to help me get to and from work if i get a job because he wants me to have my license so i can take myself there and back. i’m 20, my mom wouldn’t allow me to take my permit test or anything while i was underage. She only taught me how to drive once i was 18, never let me use her car for the test that i was planning to take soon at that time, ended up moving cause of a hurricane. a lot of shit happened within that one year, it made goals that i wanted to accomplish in that year get pushed back, i didn’t have any control over it. i want a job asap though, ive been trying to apply on indeed and that shit never works unless if it’s one of those cold calling telemarketing jobs. My bf tells me if i really wanted to drive i would’ve got my license, yeah that’s true on the surface, but i am genuinely anxious when i drive. I keep my head calm and in a good space, trying not to think of any crazy ’what ifs’ happening, i really really try to keep my mind calm. But my whole body shakes while im driving and i can’t control it. it feels like my body is full of adrenaline while im trying to stay relaxed and focused. Then I get nervous when people tell me that i’m not completely in the lane, or when they act panicked while trying to explain directions. It makes me feel like a fucking loser. And I can’t even help it, I don’t know how to make myself completely relaxed and calm… I don’t like the adrenaline I feel when I drive because it more feels like my body is panicking.. I really want to change and fix this cause I want to drive and i’m tired of hearing any complaints about me simply needing a ride. I need to make money, my birthday is coming up and I really want to go to Mystic falls for my 21st.

Can anyone please give some advice if they’ve struggled with this issue? How did you or anyone you’ve known struggled with this overcome it?