A backseat passenger can say anything he likes about your driving. He can gasp at every roundabout and predict a crash at every junction. What he cannot do is take the wheel, and that is the whole of the difference.
Fear talks. It has a large vocabulary and an excellent memory for everything that has ever gone badly.
But talking and steering are separate jobs, and only one of them was ever yours.
Let it narrate the roundabout. Keep both hands exactly where they are.