I think it IS okay to venture outside of your comfort zone from time to time. Just be aware of your triggers and stay on top of the anxiety. Do your relatives know that you have severe anxiety?? If not, it may be a good idea to speak with them and let them know so that they can encourage and support you through it... Thank you for posting and PLEASE keep us updated ok?!
No, it's not dangerous. Facing your fears is better than avoiding them, which becomes your normal. But the above is right, if you did CBT, a form of anxiety therapy, you would start with small things and repeat them until you felt comfortable and work your way up. But no, it's not dangerous. Your problem, and mine, is we think it's dangerous when in fact we've done these things many times even when extremely anxious and nothing terrible happened other than the feeling of anxiety (which I admit is no picnic).
stay around the home for now. you need to take baby steps before your trip. Go for short drives in your area and build up to longer ones. You should also do this at a quiet time of day building up to rush hour. Best of luck !