Slow down and take a deep breath. Yes to all your questions. A driving phobia is a sub phobia of Agoraphobia. It is totally curable. It is one of the easier ones to cure because it is easier to escape. Pulling over is not the answer.
It is all about having control and pulling over is not control but may be necessary till you do have control again. In the thread updates are storeys about a friend and fellow member who is totally cured with no relapses. You can be too. You can actually enjoy driving again, I do. I have no relapses either. And I have a cataract so can only see with one eye right now. That alone should be a reason to panic.
The quick fix is a combination of relaxation and distraction techniques to carry you till you recondition your thoughts to give you control. If this is more than just driving thoughts but a core belief it has to be fixed also so it can be a lengthy process. Is it painful? Absolutely not. It is not all or nothing in the exposure sense. And it is permanent.
Davit.
Ps, There is no one to drive with me and never has been, I had to do this on my own.