Nothing works better than just practice and exposure. The more you drive the more you will get comfortable doing it. You will experience new situations and learn that you can handle them. I usually take several steps to make me feel more confident like looking at the route on maps beforehand. Google maps has like the street images of each turn which I find really useful because I can see exactly what the intersection looks like and how I would navigate it. I always like to have a plan for parking beforehand too. Start with short, easy drives to familiar places and build up to longer ones. I know it's easier said than done but the biggest obstacle to my driving was not being a bad driver it was the anxiety that caused me to drive bad, so try to stay calm, breathe, and go with the flow.
It helps a lot of you have a trusted and patient person to drive with. My fiance was so great in helping me get over my anxiety because he would go with me the first few times I had to drive to new places, he would give me tips/coach me through it, and would even offer to call me and stay on the phone with me if I was driving by myself. If you have a place you need to drive to regularly, I would try to go every week to get the experience and practice. Commuting to my workplace 1-2 times a week helped a ton to reduce my anxiety and make me feel more comfortable with driving. Like with any anxiety it doesn't go away completely and there's no magic fix except time, but I am a ton less anxious than I was a couple years ago.
