A couple of strategies from the therapy series practiced together would be a good solution for your anxiety with driving. Turning the tables on the ANTs, or going neutral with your thinking, is useful here because you want to break up that old, firmly held belief that you have difficulty driving - in which the rational truth is that you most likely don't have difficulty driving, as you were able to drive fine while you were on the medication. Saying things like "Driving used to cause me trouble in the past, this is true, but things might be different now...or, maybe I can do a better job driving than I think I can...", would be really helpful as you will be getting your brain to begin to think differently about driving, and gradually the anxiety will decrease (and it will start to feel less like your mind is going "blank").
Another strategy you can use is to start of driving short distances, with a "safe" person, if possible. Not sure if you have to drive yourself to work/school/etc. everyday, but if not then you can take advantage of take one small step forward and drive either a short distance or drive with a friend or relative that you trust (preferably both if possible) at first, and then eventually move up the hierarchy a little and drive a little farther than you did before.
Also, when you are driving, it's important to calm down as much as you possibly can, as by doing this you will be slowing down the adrenaline flow and you will, over time, begin to see more clearly that you can drive and will be ok when driving.
I knew a guy who went through the program who had a real difficult time driving, to where he would avoid driving to new places by himself because of his anxiety...but he worked on these strategies and over time, he was able to reduce his anxiety and is pretty much driving all over the place now. If you work on these strategies gently and consistently, you should be able to reduce your anxiety with driving like he did :).