Anyone else feel *worse* outside with other people?

I've come to learn that a lot of people with agoraphobia tend to feel safer with someone trusted when venturing into the world, but I feel that I have the exact opposite experience. I can usually go out just fine on my own to wander, but the second I have to be with someone, especially if I'm stuck in a car, that's when the anxiety and panic creeps in. It's like the fact that I stuck in a social dynamic that I can't escape shuts my brain down. Even with my girlfriend it's happened from time to time.

This is a new experience for me they only really started last August, but it's been worsening recently. I can sometimes power through but it's especially hard for me to do things like drive with friends in the car (I haven't even bothered trying letting someone else drive, I had a panic attack once when my girlfriend was driving).