Thanks for your question!
Anxiety is a normal state of dread, tension, and unease. It is considered a normal response to stress or uncertain situations. Prolonged or intense periods of anxiety may suggest an anxiety disorder. A disorder may also be indicated if anxiety:
Occurs without an external threat (“free-floating” anxiety)
Impairs daily functioning
If you or someone you know has been diagnosed with anxiety disorder, then driving while having an anxiety attack is not recommended. If not, and you have mild anxiety which is the kind of anxiety that's normal and makes us productive human beings then driving is not restricted.
Here is an article on anxiety and driving that you may find helpful: https://www.empowher.com/mental-health/content/anxiety-and-stress-can-hinder-driving-abilities
Hope this helps,