Need encouragement to face my highway anxiety

It's been 5 years since I got my driving license back in 2020, and I’ve barely used it since.

As someone nearing my mid-20s, I feel so behind while most guys my age are out cruising the world.

The thing is, I love driving. It’s so relaxing as it helps me forget about my toxic household. I can go anywhere within 30 minutes locally.

But I feel so ashamed of my highway anxiety. I was taught by backseat drivers who severely impacted my confidence criticizing every move as a mistake and catastrophizing accidents that never happened.

It’s frustrating how slow my progress has been. After getting my license, I avoided driving for 2 years. And it wasn't until this year, I finally managed to drive at night after watching some youtube videos and deciding to just go before I chickened out.

Now, I’m facing the biggest anxiety of all, driving on the highway. Should I just wake up one day and go for it? Has anyone taught themselves to do this?