Take your meds, hon. If you have this issue, you have it, and the faster you nip it in the bud, the less likely you are to get permanent neural channels carved that cause you to be fearful when driving. What you're saying is akin to saying "I have diabetes but I'm afraid to take insulin." Anxiety problems are about as much a physical issue as diabetes, not a moral issue or a mental state. Take your meds and talk to your counselor, and do it sooner not later, so you don't get nailed into this reactive pattern. If you don't have a counselor, get one tomorrow. The combination of meds, talk therapy and exercise is the 1-2-3 punch for anxiety, and gives you your life back. Good luck!