I'm pretty late on getting my driving license, but I got it when I was 24 years old, so not even a year ago. I was extremelly anxious about driving aswell, even with the driving teacher sitting next to me I was always sweating so much, my poor driving teachers carseat was literally wet after that, lol. When it came to the exam day, oh my oh my. I was so lucky to get one of the sweetest tester ever. I was so anxious about everything, I literally started crying when she asked about my name.
I did tons of mistakes, which didn't help the anxiety to be less either, especially that I had to drive in a big city, while the whole time I trained in a small town. But anyways, I did it first try! The first time sitting alone in a car, I can't tell you I wasn't anxious. I wanted to throw up, was scared that I would crash or what so ever. But no, they won't give you the driving license, if they don't think you're capable of driving. It will take a while until the anxiety goes away, but it will eventually. As I'm still fairly new to driving I'm not a hundred percent over it yet, but it's a lot better. It takes time, but it will be fine.
And the story of my brother: When he got his driving license, directly after he didn't drive for 2 or 3 years, because he was too scared of doing so. He had to redo a test to make sure that he didn't forget how to actually drive a car, since he didn't touch one at all (imagine paying over 3.000€ for something and then not using it. Yeah, parents weren't happy xD). But anyways, once he was brave enough to actually start driving and redid some tests he said he regretted to not drive for all that time. Sure, he was anxious like hell aswell at the beginning, but he's a really good driver nowadays, full of confidence and loving it!