AGORAPHOBIA...I'm terrified to drive

Im 19 as of yesterday and i am terrified to drive a car.😰Why? Not sure. Of course im sure there are events that triggered the phobia. Though obviously i need to drive to get places. I didnt get my permit till this past august. I have practiced driving before at 15 and 16 and 18 but only a few times. 15 step mom did it then refused an only taught my little brother to drive( he can drive fine and he is 17)😢. 16 grama took me driving in my mom Chrysler 300 luxury edition long cabin car (feels line driving a huge ass boat).... She didnt let go of the wheel the entire time and screamed at me when i did stuff wrong. 18 loving SO tried to teach me in the state park he lived in... I ground the gears the one and only time i drove, he got surprised yelled then was worried because i couldnt stop crying. Then his mom found out i didnt have a permit, she was not happy. To say the least no experience driving was a good one. And that includes being the passenger to multiple accidents. Now im terrified to drive, not being in the car, i can handle sitting in the driver seat acting cool and feeling like a real adult. Its great something i love!😍Until you tell me to drive it and I'm terrified. I start tearing up and blubber like a baby to pull over.😭 I feel horrible that i am so scared to drive, i wish i could drive id love nothing more! But i can not and its frustrating. Anyone else have a problem like this how did you get over it? Or deal with it?😞