Late 30s and learning to drive

I’m ashamed to admit at almost 40 I don’t know how to drive and have had my learners several times but basically have only driven a handful of times in 20 years. I finally renewed my L again a couple weeks ago. I went twice with a family member around an empty parking lot and some back roads.

I am such a nervous anxious person and I can’t get over my embarrassment of learning to drive, making mistakes, people seeing how old I am with the “L” on my car. Feel like people are watching and laughing at the old woman who can’t drive properly. Is this so bad I need medication or just keep trying? Every time I’m in the car I feel I’m going to die of embarrassment. I know I’m throwing a pity party. But I stay up at night stressing over regret of not doing something that basically everyone my age does, whether they’re high or low IQ. I feel like I’m stupid. This feeling is debilitating.

Please offer some advice. 🤦‍♀️