I get my worst anxiety driving over bridges, how can i get a grip on this?

Mindfulness: There are many books on mindfulness and dealing with stress and anxiety.

Start with a lesser: Kind of anxiety (those are implied when you say "my worst anxiety) & try, with a counselor's help, to gradually pick off the next more stressful situation untill you work on the phobia of driving over bridges. That's called desensitization therapy. There are occasions where a phobia is so severe, antianxiety medication from your doctor might be needed briefly to get started on the big one.

VRT for Phobias: Phobias and anxieties respond well to Virtual Reality Therapy(VRT). VRT is exposure therapy in a safe environment. The research suggests VRT is 90% effective. Seek out a therapist who uses VRT in your area. You can find providers through www.psious.com, www.limbix.com, or www.virtuallybetter.com.