Anxiety

Does anyone take anxiety medication for I guess social anxiety maybe I don’t even know. It’s not awful, but if I’m going out for the day, which I do try and push myself to do a lot, and 99% of the time I can push myself to do it and I realise it wasn’t as bad as I thought, but before we leave, even on the car there I just have constant anxiety attacks. Wondering if medication would help. Thanks x