Best of luck on that - you may be too late for them to change their mind/habits I'm afraid. My mum won't drive on dual carriageways or above nowadays (she never had an accident on them or a major one generally, and used to drive into London to visit my grandparents on the A1/A41 very often) that she's retired (nearly 70), and none of my family can convince her to "get back into the saddle" (even if starting out on empty roads outside of the rush hour with a family member and on familiar roads).
The mother of my sister's childhood friends never drove outside of her home town. For some, it seems like a "regressive state" similar to agorophobia (not that I'm an expert on such things), which appears to get worse as time goes by.
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