How to get better at driving?

So I’m 27 and have my license AND a car but havent driven for 4 years since my ex was doing all the driving. He basically brainwashed me into thinking women shouldnt and CANT drive so dont do it and dont “kill yourself” (idiot).

Now as a single mom, I really gotta do it. I pushed myself and drove to starbucks on my own a few months ago which was great, then I stopped stupidly.

My recent instructor basically said Im good, just gotta “keep doing it”.

I feel like I know most rules, but the anxiety is always there and it sucks. I view other people as the best damn drivers and I shouldnt be in their way lol.

Also parking and reversing sucks!!! Lol

How did u get better at driving and not caring what people think and fear?