Advice Please people , I suffer with acute anxiety which has kept me from goin any where really other than the town I live in?

I have been a few places But by car but not very far , I have just started a new relationship for about 4 months now An he has asked me to go away with him for 2 Nights we will be goin by teatime an it s about 4 hours away , I really want to go cause it means that we can spend that time together but I am feelin really anxious about it , I will also be bringin my little girl with us as I couldn t leave her over night An with goin that far , I have known this guy for a long time An he knows my other kids , cause he is friends with my ex lol I know awkwar , I don t want my anxiety to rule me like it has but I am so scared ?