I have a fear of driving loon distances

LONG DISTANCES
I leave home an am ok for first 10 minutes or so, but then I have to turn back.
when traffic hits, I am in big cacca...
I look for an escape and try to get the hell off the freeway fast.
I feel trapped, scared, screwed, and like nobody can help me as I am trapped in a grid lock on freeway,
I hate this, as I am a realtor and need to visit clients, usually I take GF with me but its not right.

I feel ashamed, but learned to cope...
I feel like I am going to lose it, and I envision ambulances and paramedics showing up to save me on the side of freeway,
its has hurt me because I want to take my little boys to different things in the city ( 45 min drive) and cannot....
feel down, most days and a failure.
I have come along way but so much work to do,
talk soon.
SD