Anxiety with Driving.

So I’m 21 and have had 2 drivers learning permits. I cannot drive. It’s not like a physical thing but mentally I cannot. It’s like everyone keeps saying you’ll get over it and all this stuff but it’s like I don’t know if I can do it. I live in the country and have to drive to go to school which im about to start and I really want the freedom. I am trying to tell myself that just being able to leave my house without having to ask will make it worth it. Has anyone struggled with anxiety over driving before? I feel stupid.