I'm the parent of a daughter with diagnosed anxiety. Your daughter needs cognitive behavior therapy to manage her own life rather than depend on you or her boyfriend for basics like transportation.
She's missing out on her own life, and it's important that you get her on board with receiving therapy and working hard at it once she begins. It takes as little as four to six months with a motivated patient, and it can change her life.
Maybe she won't drive--a choice that's allowed--but with less anxiety, she can use Uber, Lyft, taxis, or the bus--all safe enough if she knows and observes basic safety measures.
So quit blaming her for something she cannot help and get her the therapy that will free her--and you.