Welcome to the forum from Liverpool, Loopysarah.
I'm afraid I don't suffer from your problem, but my other half does and it affects our ability to walk together, particularly in the hills, but also on coastal paths. My daughter also suffers, but her fear is a little odd. She does some climbing, not world class, but multi pitch stuff where she follows her boyfriend, and she copes really well. But, when she reaches the top, she often has panicky moments and cries! Last autumn we walked Striding Edge and she was terrified (and spent a considerable time sitting or semi-crawling), despite climbing vertical cliffs on other days. She has spent a few days walking with me over the winter and has commented that she finds the more she does, the less intense is the fear - almost as if the brain is acclimatising and realising that she is not going to fall. I don't know if this helps - but I hope so. Maybe just keep on doing it until it becomes the new normal?
I was chatting with another member, Domtheone, on a recent meet up, and he has had similar issues but now does what I consider to be pretty exposed scrambling and loves it.
Paul
PS Richard's advice is good too.
