I can understand your concern about the drive. Could you work out the way to your destination by doing one journey with no changes, bu asking someone to drop you off at a coach station (even if it is 20 miles away) and be met at the other end?
If you have always travelled with your husband and he always drives, you have maybe lost a little confidence. If you can psych yourself up to go, imagine your cousin’s face, feel her hug you when you arrive ….. and the catchup, chat, photos.
If you need help choosing the route, go online or phone someone to help you plan ….. or come back here on a new thread for travel advice.
It is sometimes what we do not do that we regret especially if we tend to overthink.
Come back and let us know what you decide.