Brave people still get scared on the drive there. The bravery is in not turning the car around.

The fear does not stop at the door. It is in the car, in the waiting room, in the ten minutes before, and people who look fearless from outside are simply people who kept driving while feeling exactly that. Courage is not a state you arrive in, it is a decision you make again every few minutes until the thing is happening.

Decide it in advance so the drive is not a negotiation. Tell somebody you are going, book the slot, pay the fee. Make turning around require more effort than continuing.