Hi this is my first time posting in this sub, so I hope I'm doing it correctly!

I have really bad anxiety and driving makes me SUPER anxious. There's just too much going on and too much I need to pay attention to, and I'm always worried I'm going to crash or hit someone. I hate driving with other people in the car because it just makes everything worse. Normally, I avoid driving my friends when possible, and I just ask them to drive and offer to pay them for gas if we have to carpool somewhere. Well recently, I got dinner with a friend, and they asked me to drive because they were exhausted after work. I agreed because I was just excited to see them for the first time in a while (covid restrictions are lifting in my area and we're both fully vaccinated now) and I figured it would be fine. Spoiler alert: It wasn't fine. The restaurant was in a new area, so I wasn't familiar with the freeways, and I was so anxious the entire time. I missed our exits a few times and the GPS had to reroute us. I almost changed lanes into another car because I didn't see them until the last second. When we got to the restaurant, I went too fast into the parking space and hit the curb, scratching the front of my car. I apologized multiple times when I dropped my friend off at home, and they said not to worry and they laughed it off. I know they were being genuine, but I'm so embarrassed and ashamed, and I'm worried that I made them uncomfortable. I know everyone makes driving mistakes, and I'm trying to remind myself that it was my first time driving that far since quarantine started, and my first time driving someone since quarantine started. And I think from now on I won't drive friends anymore. But I can't stop thinking about it and I just needed to vent. Has anyone else had a similar experience or feel the same way about driving with passengers?