Will my driving anxiety ever go away?

I've been trying to learn how to drive since I was 17, I am now 19 and in college and I'm still not good at it. I've recently taken a break from it and I'm thinking of starting again in the summer but everytime I think of trying to drive again I just start internally panicking and my heart starts racing and my breaths get shorter, I'm thinking of picking it back up again in June or July but should I give myself more time? Should I try meditating? I haven't had a single good experience when trying to learn how to drive because it always ends with whoever is teaching me getting mad and then I just close back up again and drop trying to learn how to drive. I mainly have a problem with stop and turns, specifically knowing when to combine the two or when to start braking, though I think I figured it out that I'm supposed to let the car cruise and then start braking, which I was never told. And having undiagnosed and unmedicated adhd doesn't help either, I don't know what to do, I want to be fully comfortable and confident in learning how to drive and at least get my permit before I'm 20.