TL;DR: I want to get over my fear of driving. No help from family to practice. They keep nagging at me to drive. Need advice on road test/ how to make or help someone in my family comfortable to help me practice.

Hey everyone, going to make this a super long story short. I’ve had my permit twice. Once when I was 17, and my Dad took me to a parking lot and the older slower part of a neighborhood. I drove around and it was fine. My Dad however only allowed me to do it twice and refused to let me get my license and drive his only car out of fear I’d wreck it and he wouldn’t have a ride to work. My permit expired and the end of that year I moved out of state. My permit was no good in my new state and I had to retake the written test. Failed it literally 11 times and I gave up for years. When I was 26, I woke up one morning and said I wanted to drive again. Went to the next town over and took my permit test, passed it, and started to practice with my other family. Each one of them in their own way made me so nervous to drive I just stopped doing it. Right now, I’m dependent on everyone to get me to and from anywhere I go and they are nagging me to get my permit back. I let it expire again.. I understand why fully.. I really do. But the thought of failing my written test again and having to find someone to get in my car with me to practice scares me. Having the cop in the car with me and drive around scares me. I get to thinking about driving on the interstate to get to work and I get nauseous. HOW do I get over the fear of driving. HOW do I get better when everyone that I’ve tried with says I suck at driving and refuses to help me again. They say I need to drive which is FINE. I want to.. but I can’t be comfortable with them when they are yelling at me or saying I’m doing everything wrong. It makes me pull over and I just cry. I need advice and suggestions. I really do. Thanks in advance!!!