Hi. I can understand that you are concerned. Unfortunately there are no easy way of just treating this without the help of treatment and therapy. The fact that he has developed depression and becomes anxious and scared when he has to drive means his functioning is already somewhat impaired. Ideally he would have to be placed on an antidepressant and then receive therapy called cognitive behavioral therapy which will address all the things from the past and try and change the way he thinks and behaves. It you don t have any money to spend on treatment or therapy, it is best to give him all the support you can. One of the techniques you can try is to try and get him more exposed to driving, slowly at a time, even if it is just by getting into the car. Small baby steps at a time.