I have just begun to know you (sunk cost and a couple other things you wrote) and was already following so I am glad you made it out with mostly emotional wounds. Its OK to be afraid of driving after what happened and realistically more safety into your everyday driving once you get it back (although no camera/electrical warnings could have stopped the semi). EMDR is a short term quick treatment that is especially good for something Acute like what happened, if there is not a lot of past trauma that got stirred up as well. If the main problem is just the driving treating it like a phobia (an exposure therapy approach) might be a different choice. And if things stay troubling you may need to treat it like PTSD, and that takes a more skilled therapist. Sounds like you have already found some healing which I look forward to your sharing with us