I understand the situation of you and feeling fear for that is quite normal. I think I would feel the same if I were in your place also. But we need to come out from fear and you almost done it as you came back to your track again. But I think the incident will help you to be more careful while driving.
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Yes, man. That incident and all others before and after, although not as terrible, taught me to be better and more cautious when driving.