Getting over social anxiety

I desperately need help. I would go to a professional but I don’t have the money to do that rn and my parents would not understand. I’m 23, no job, no license and going through a divorce. I depended on my ex 100% and I hated it but it was because I let my anxiety get the best of me. Now I literally have no choice and I need to make changes so I can provide for myself and my daughter. How can I get myself to feel better about working and driving daily. Please help 😞