It must be awful to be anxious, but I bet you're not as bad as you may think you are nursecarla!
To be honest, driving & parking has never bothered me.
I passed my test on 16 June 1972 & the very next day, drove our (then) two little girls from South Beds to Essex, via the M1 & Nth Circular. They sat quielty in the back drawing, oblivious to the fact that I'd never driven on the motorway before!
I've actually watched people trying to manoeuvre out of wide parking spaces & still managed to nudge bumpers! One woman was nearly in tears in the hospital car park, so I very discreetly asked her if she needed any help. She said she'd been trying for 5 minutes & was so grateful to me for getting her out of a tight spot - pardon the pun!
Anyway, I needed her parking space! ;o}