Does the fear really pass?

I’m 20 years old and have a 2 year old. I’m now pregnant with baby #2 and I STILL don’t know how to drive. Every time I get behind the wheel, I’m filled with anxiety and nausea. (The nausea was bad even before I was pregnant). The thing is I WANT to learn. My mom is going to teach me every night and I genuinely want to learn. I can picture myself driving places with my child and the thought makes me super excited but whenever I get into the car, the fear is just SO BAD. My mom is super patient with me but I’m scared that this fear will just never get better. Please tell me this is normal and it will go away with time.

((Idk if it’s important to add that I’ve been in two car wrecks and that is the reason for my fear))

EDIT: I added this in this group because I feel like a burden to my husband when he drives me everywhere. He works 12 hour days at the max. He’s very sweet and has never told me that he’s frustrated but I can tell he’s tired and I want to be able to help out and take myself to my own appointments.