Agoraphobia

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Does anyone know anything about this illness? Do you think you can be partially agoraphobic as opposed to full blown extreme agoraphobic? For instance, I believe I have it but I can go out anywhere if someone I know and trust is with me. I can't go anywhere alone, as driving makes me too nervous so I can't drive even if i do have my license (I got it as a teen). I don't know if I would go anywhere else by myself if I drove though, maybe I would but prefer to stay closeby in case something "happens" (I think that is the agoraphobic taking over though). I might even have a touch of Asberger's Disease as I usually cannot look people in the eye and have some slight problems even starting a convo with strangers on the street, etc. How do you get tested for these things, anyways?