Hi Karen
[b]Then I get an urge to just run away[/b]
Thats classic "fight or flight" response to anxiety/panic.
Probably what is happening when you are going to drive someplacce you are anxious, forcing yourself to go and get the chore done. With no conscious effort you are driving all tensed up, breathing shallow, and your thoughts are not calm. By the time you arrive your body is keyed to defend you from the imagined danger you feel by being out driving. All those "what ifs"
Do yourself a huge favor and get "Hope and Help For Your Nerves" by Claire Weekes. She really explains everything great, all the symptoms, thoughts, and how to change things so you can cope and recover.
To reassure youself just know that these symptoms are just feelings and dont add the second fear, the "what if" thoughts. That makes you more anxious, releases more adrenalin into your body and creates more symptoms.
Basically we are afraid of our own thoughts. We do this because of stress. The mind does things to protect us, right now with these symptoms, think of it as misfiring.
Next time try some deep breathing, and try to release all the tense muscles.