I found it helpful to practice drive with one of my siblings. I felt more comfortable practice driving with my brother. And I had friends help quiz me on the manual.

Have you ever done mindfulness exercises? That might help you to be more in the moment and being aware brings comfort to me and I hope it does for you too. Do some stretching beforehand lol I would.

Set small daily goals and work yourself towards your larger goal of getting your license. Take your time, and go at your own pace. Bring a friend with you to practice, try deep breathing, or listen to a song you like if it is not distracting. The most important thing is that you put yourself out there and keep trying, even when it is hard. So many people get their license in their 20s, so really you are not behind at all. Remind yourself of why you want to get it, and how rewarding it will be. The most important thing is that you face the fear and try with small management steps (systematic desensitization to be all technical). You got this! Best of luck!