I understand why can it be more stressful to drive on highways. What about taking it step by step? Try to go on few drives with someone you trust so if you start to feel bad at any moment during them, you won't be alone or they can change with you. Good luck :)
Hey, it takes time to get around to really having self-esteem to do things that you are afraid of, especially when it involves panic attacks. The best you can do is probably see a professional therapist who will be sure to prescribe good methods to manage panic attacks.
I have this same fear myself. For many years now, but much more strongly this past year. I understand how you feel. It helps when i drive with other people. I have a long playlist on my ishuffle that helps me stay focused. I also have some lavender oil that i put on that helps me stay grounded and breath deeper. I also find telling people my fears makes me feel better about it and moving on from it.
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Related Questions: I am afraid to drive on the highway for fear of having a panic attack. I'm not afraid to drive on surface streets. How can I stop my fear of panic attacks?