I can’t drive

I’m 18 years old and still don’t have my learners. At first my reason was because I was scared to take the test again. Now I’m just very fearful and anxious at the thought of myself driving. I go blank a lot. I always get very distracted. Every time my sister drives I always feel like she needs to slam on the breaks when we have the right a way because I’m scared of cars coming when it’s our turn. It’s a paralyzing fear I have. I feel like a failure because I’m 18 almost 19 and I don’t even have my learners. But I’m scared that I will kill someone or be killed. I don’t know how to stop this feeling. Any advice or kind words? Has anyone ever been in this situation?