I would give the driving instructor a go.
I was in your position just under two years ago. I was unwell and I nearly passed out on the M25. It was the most terrifying thing ever. I was taken by ambulance to hospital and the car was towed and DH had to collect it.
I was in hospital for weeks and ill for many months (a whole other story) but once I was getting better I was too terrified to drive. Just sitting behind the wheel brought on terrible panic attacks and I thought I would faint. I knew by then it was all in my head but I just couldn't do it.
I overcame it with my very patient daughter. She sat by me and encouraged me to drive just very small distances at first. Knowing she was there to take over the driving at any time really helped. Gradually I increased the distance I was able to go.
Every time I felt a panic coming on we wound down the windows, got the car cold, and I chewed on masses of sweets. Daughter kept a watchful eye, assuring me she would take the wheel if need be.
Eventually I built up to motorways. At first I could only do one short junction to junction at a time, no more than a mile, before exiting, shaking, and my daughter taking over. But now, after a year and a half I can drive on them again and a few months ago I tackled the M25 with my daughter beside me, and the M27 on my own.
I still need to chew constant sweets. I'm sure this part isn't good for me! Apparently if you are digesting food it signals to your body that all is well, as you can't digest and be in fight or flight mode at the same time.
I'm not suggesting you will necessarily ever want to drive on motorways! But fear of driving and terrible panic attacks whilst behind the wheel can be overcome. I'd at least give it a try.