Wanting to cook but anxiety holding me back

Hi, I'm new here, and hoping that this is something some of you might understand.

I'm 28 and have autism. I struggle in such a big way with seemingly normal every day things. Because of my physical health problems I'm unable to work but I want to become more independent so like doing my own banking, my parents do this for me at the moment. And I want to start learning to cook so I can look after myself as and when I need to when my parents aren't around anymore.

But there's a problem. My anxiety. It's absolutely monstrous and it affects me in so many ways, physically and mentally. I want to learn to cook but I'm so anxious about doing it for so many reasons.

I'm worried about,

  • Giving myself and others food poisoning.
  • Burning myself.
  • Being a terrible cook. 
  • Food disagreeing with me and making me ill.

I know I shouldn't let my anxiety win and rule my life but I can't help it. It's got this bad that it always wins and I've had therapy and everything but nothing has helped me. 

I'm open to any suggestions and advice. Please help. I desperately want to be able to cook and enjoy the stuff I make. I've bought so many pots and pans, and cooking tools, but I haven't been able to use any of them yet.