I can bet it is scary. Try taking some deep tummy breaths the kind the low abdomin raise up and down not the chest. The chest breathing is stress, taking the low breaths reduces stress, and can relax. About ten minutes or even a few in the car before you drive.

You have every right to be anxious, everything is going to be fine. If you have to stop and call someone that is Ok. take your time.
We are all with ya in the back seat remember,
Di