Go to a mall with a friend, park in every single parking spot. If you don’t have a mall near then use the closest thing that has a lot of parking spaces and some low speed traffic.
You can adjust the level of difficulty based on the day of the week and time of day you’re there.
The idea is to get comfortable in a low risk and low stress environment. That way if/when you’re overwhelmed you can stop and try again.
Once you’re comfortable doing that driving on real streets is much less overwhelming and easier.
That’s how I did it and I found it to be extremely helpful. Hope that helps and try to have fun.