Op it sounds like you are doing everything you can to try and overcome your hurdles. Unfortunately though driving is one of those things that you only get better at with practice. I don't have any other advice but wanted to say you are not alone. I have a sister who has had a licence for many years but also does not drive at all but her family manage.
It sounds like your husband finds it difficult to accept perhaps he could join you in one of the sessions with the psych to get a better understanding? We all have something in life that we struggle with and also strengths in other things that we excel in. Not driving is a hassle but not the end of the world.