Too much anxiety to go to DMV

I’m 20 and don’t have an ID because I have way too much anxiety about going as I’ve never done it before. I’m anxious in general and about the picture but mostly I find myself anxiety dumb and can’t pay attention right when I’m having an attack and I need things step by step explained and even then I just can’t get it and it’ll embarrass me and make my anxiety worse but I’m starting to not sleep from anxiety because I don’t have one and I know I need one. Can anyone give me a break down of what it’s like to go? Or any advise. Please no “it’s not a big deal” cause it is to me. Thank you.