With continued practice this can become your new thought pattern. It is not easy to challenge fear so please give yourself lots of credit each time you are able to do this.
Was able to drive today for 45 minutes and felt great. everytime i felt anxiety or panic coming, i challenged those thoughts and said to myself that i have driven before calm and i can again and that my own thoughts cause those symptoms and that i wasn't going to let the fear in. i put up a wall and i wasn't gonna be afraid to drive.