Driving anxiety. What should I do

Does anyone else get extreme anxiety about driving? Especially by yourself with your kids in the car? Idk what to do. I usually get rides to all of my child’s doctor appointments because the thought of driving with them in the car literally sends me into a shaking panic attack. I’ve always been nervous about driving but it’s even worse now that I have kids. I have ptsd from my terrible childhood surrounding driving my mom was a drug addict and constantly was falling asleep at the wheel and raging out while driving threatening to crash the car and kill me etc I was always just hysterical in the car with her out of fear and now I just automatically associate driving with car wrecks and dying kids. Nobody in my family is able to give us a ride to my 1 year olds appointment in the morning, I don’t have money on a card to Uber, there are no taxi services in my area that take cash, and her dad refuses to take her or give us a ride he told me to suck it up and drive there by myself. I am not comfortable behind the wheel I always end up sweaty and shaky and a nervous wreck. I’ve only driven probably 20 times in my life because I avoid it at all costs. Her doctor is only 9 minutes away from home so it’s not a far drive at all there’s only 2 right turns the rest is basically a straight shot but I still am having a hard time talking myself into driving there because I cannot stop picturing myself crashing and hurting my kids. I’m already shaking just thinking about it but I don’t want my child to miss the appointment. Should I really just suck it up and get over my fear to make the 9 minute drive or should i reschedule the appointment I’ve been stressing over this all day and now can’t even sleep over it it’s honestly so embarrassing that I’m like this when it comes to driving i hate it it’s just a fear that I cannot seem to get over😭