Learning to drive in rain at night is terrifying until it isn’t. Most fear shrinks with practice.

Fear of a specific situation is mostly unfamiliarity, and unfamiliarity has an expiry date. The first few times are genuinely frightening, because you have no sense of what the car will do or how much room you actually have. Repetition replaces guesswork with information, and the fear falls as the information rises. Nothing about you has changed, only what you now know.

Do the thing you are nervous about in small doses, with somebody experienced beside you where that applies. Short trips in the rain, the drive you keep avoiding. Five supervised attempts will do more than any amount of waiting to feel ready.