i think you should fully cure your anxiety first before driving on road... driving with instructor and driving alone are 2 different story. with instructor, they have additional brake at passenger side... even if u got the license, it wont lessen your anxiety, i saw many cases accidents happened due to anxiety - drove into shop, shot over the wall when reversing, even my neighbour knocked down the gate in front of her house and her own gate at the same time because panic reverse and panic forward.

life matters, driving license is optional. life doesnt take 2, problem is not driving license or driving, the main problem is your anxiety might cause your own life or other's life.