I’m sorry you’re in such a bad spot, that sounds really hard. Are you able to share more specifically what type of self-care you feel you’re missing?
If you are able, it might be helpful to begin to formulate an exit plan. Try to put some money aside if you’re able (in an account they don’t have access to, if that’s a concern). Look into resources and therapy that might be available (if you’re in school, your school might offer this for free and confidentially). Is there someone in your life you trust to talk through what you’re dealing with?
If you think driving’s weird, think about flying, too. We put several tons of that explode-y liquid, along with a bunch of people, into a big metal tube and shoot it into the sky. And we made that form of transportation several orders of magnitude safer than driving.