Can you help me to think of some coping strategies for my anxiety specifically related to driving a car?

First off, I already have a therapist and a psychiatrist.

Now, I have major issues with driving. I have unintentionally obligated myself to be somewhere this week that is a 30 minute drive, and it will be evening and raining on the day that I have to go. I haven’t driven more than a couple of blocks in the last 6 months, and that was maybe 2 or 3 times. That also caused me enough anxiety to make me physically ill. So this drive is a significant leap from my comfort zone.

Can you help me think of things that will ease my mind and help me stay focused on driving, rather than panicking and wrecking my car?