Hi: I remember having to take a course in a big city and worrying about parking and traffic jams, etc. I did the same as you, drove over the route to have a look at the route and parking situation before I started the course. Yes, I was still nervous the first few times, but with practice it got a easier.
One of the things families do are "traditions". That is, something which the family does on a regular basis, something which is familiar and comforting. Think of holiday traditions. We also have "habits". These can be routines which pose no threat as we are familiar with them.
Driving back and forth to work can be a routine. It may be scary at first because it is new and you are out of practice, but within a couple of wks. you might just have it down pat and enjoy the quiet time before and after work. A time to think about the day ahead and a time to think about the evening ahead. Some people enjoy this time en route and use it wisely for planning, or reviewing and some even use it for prayer. Who knows, in time, you too may become comfortable with the routine of driving back and forth to work. Give yourself a chance to face this new and exciting challenge. Give yourself permission to be a bit nervous, it's o.k. Know that you can drive, you can handle this, you know the rules of the road, you will remember and you will be careful. You can do it!
Can you do a visualization of the drive back and forth - always end it with a successful outcome. I sometimes do this when I am nervous about doing something. It's changing negative thoughts to positive ones. I start with muscle relaxation first, then drift to the visualization.
Let us know how you do,
Sunny