Don't fret hillkill c:
It's a skill for life and doesn't need to be rushed at all, you should do it when you feel ready
I was the exact same and got my provisional license just over 2 years ago; same thing with me getting really anxious and panicked about getting into a car to drive. But recently I plucked up the courage to start driving and it's been okay.
If it helps, for me I think that it was to do with having stresses from outside sources like school, work, family or friends etc. Having those and learning to drive at the same time felt like a lot of pressure to me and I personally couldn't deal with that.
After finishing school and now just having a job, the pressure feels a lot less on me.
Just chill out and take your time man c: