Severe Anxiety

So I have really bad Anxiety, I have pretty much my whole life. I have it over very weird things and its ruining my marriage. My biggest one is driving unfamiliar place. I hate driving period and will avoid it as much as possible, obviously I drive places such as doctors, my sons school, and to the store etc but all around my home. But I freak out and get bad anxiety attacks when driving anywhere else. My husband asked me to go run down town (35 mins) away to get some papers he needs, I legit already had a panic attack thinking of it. I started crying, my chest got tight, my blood pressure went up and I got dizzy, to him I'm acting silly and ridiculous but this disease is REAL! As a child one of my moms many boyfriends set our car on fire with me in it, I was only 2yrs old and I think that is why I have this issue of being in cars/driving idk but its gotten bad and my husband has absolutely no sympathy for my condition and I'm 40 weeks pregnant with my 3rd and waiting for her any second so that doesn't help my anxiety, it's taken a toll on my marriage and I'm not medicated for this disorder tell after my pregnancy. Anyone els have this issue?