I was hit from behind by a GMC dually pickup. The only thing that changed for me was my route. My original route was through a beautiful housing development with plenty of hills and trees, but I had to ride on a 45mph narrow two lane road for a mile. Now I take the shoulder of the 55mph divided 4 lane. Its a WIDE shoulder, about the same as a bike lane. But the route is SOOOO boring. Still a couple of hills but no scenery.
You get over your fear, or you don't. If you don't then you spend the rest of your life on an exercise bike in a gym.