'Sunny' yr not alone there, stress is with us all even if we don't recognize or admit it. Some handle stress better/different than others, admitting you have stress that could effect you is probably the most stressful thing about stress
Personally if stress is current in my life on any particular day & you can see a confrontational situation looming ( such as you mentioned re driving fast to the Lawyers to give them a serve) what I tend to do is project that current situation/time forward an hour or two & quickly think of the worst case scenario that might arise from it (you know verbal abuse, actual damage to property etc; we are all capable of it under duress). Then when it looks obvious that it could get ugly & you may regret having said/done certain things latter after reflection you right there & then have the ability to reverse it (unlike after the fact) as you haven't even arrived at that point in time as yet. Hard to get yr head around I know but how many times have we ALL gone over a situation AFTER the event & thought sh1t if I only had thought that out BEFORE I went into that office or place & went nuts due stress!!!
Hindsight is a wonderful thing & plays a big part in stress.
There's a saying that I heard in a movie once (Travis Dane, guess the movie) that I always remember..........."chance favours the prepared mind"........
Simply put get there in yr mind (the place of potential stress) well before you actually do
Wmk2