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I feel for you, though at the same time I do see it through the other perspective. My parents have been freaking out about me growing up for years. Recently I graduated college, which my dad did not attend because he is still in denial that I am not still 14, then for my student teaching I had to move away, which regardless of my parents not being ready for me to drive yet, I needed to look up on youtube some videos on driving, miraculously passed my drivers test, and got a car. Now my boyfriend and I are talking about marriage, and although my parents know of this and are supportive I am still scared that this will give one of them a heart attack.
So yes, having kids grow up is terrifying. Sometimes I feel really guilty and bad about the fact that I am getting older, but there isn't much we can do about that. You are doing a good job, and letting your son drive and grow now, even though hard, will be so much better and less scary than waiting till basically his first time driving has to be a 12 hour cross state voyage in the middle of winter with ice on the roads.