First baby, date night?

My husband and I welcomed our first baby into the world 4 weeks ago 🥹♥️ I know we need time for just us for at least a few hours, but I have a lot of anxiety about being away from baby. I haven’t even driven alone with just him in the car yet. I haven’t been out of the house other than to his pediatrician or my MIL’s house a couple times (15 minutes away, husband has always been with me) and the longest we stayed is 6ish hours. How can I get over the anxiety? It’s not crippling, but every time I think about being away from him like that, I do actually get this weird empty feeling in my chest and I feel like I start to almost panic. I honestly don’t think I could survive a date night, but I want to be alone with my husband again. What can I do? Did anyone else go through this?