You need to RELAX! Take a few deep breaths. Then, take it from there...
Make sure you are well prepared before you even go do the test. You should be less nervous. Yet, you said you are a good driver, so this might not apply.
Concerning the lady you were with, it happens not to be comfortable with but you couldn't do anything about it. Just forget it! Next time, you'll be with a person you'll be more comfortable with (hope it won't be her again :)). ONLY focus on what you are doing, never mind what they might be thinking!!
If you'll pass the test, you'll know everything was OK! ;)
Good luck!
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