I need help with my severe claustrophobia, motorphobia, and anxiety

I've been having this ongoing problem for most of my life now. I am a young adult, and right now, driving and even being a passenger gives me terrible panic attacks and anxiety. I can't ride in the backseat or the front seat with the safety belt on. I have to lean the seat back a bit because the pressure on my back terrifies me. I miss so many opportunities to go places with friends and family because of my fears of having a panic attack. My family offers little to no support. They think it's fake or "all in my head." It makes me feel guilty and at times depressed to the point where I'd rather never wake up anymore. I am not self-harming, I just feel meaningless. This constant fear has taken over my thoughts and my life. I was such a happy person. I want my life back. I want to travel with my friends and family again, but I don't know how. I've almost given up hope on getting better and just accepting the fact that I'll live with this anxiety forever.