I'm afraid to drive & to be in the car when someone else is driving?

It's not so bad when I am on familiar roads that are close to my house...although it can be nerve wracking regardless. I hate having to drive on the interstate. I just can't do it and even with someone else driving I am a mess and convinced we are going to have a fatal accident. We are supposed to go to my in-laws tomorrow & that is 3 hours away. It is literally an hour and a half on I-95 and another hour and a half driving through the forest, one lane in each direction. People ping you. Tractor trailers. I am already having near panic attacks over it. I have already told my husband I don't want to go. Anyone have any advice? BTW, I have bpd type 2 and am currently not on meds due to nursing my younger child. I would normally take a nice tail of pills but obviously i can't right now.