From their accusation: there is clearly a long history of this happening in the context of this person driving. You've left out all of the history and context. You even left out your relationship to this person. This could be a friend, coworker, spouse or your child.

Your relationship to this person matters especially because their words might not be literal. "You're always criticizing my driving" might mean "You always criticize me" in general. Or it might mean "You don't trust my judgement". Or it might mean "You have financial control over my life and I'm just now at my breaking point."

Most importantly, I don't want to know the details and HN isn't the place for these threads. But if I were you I'd evaluate my entire relationship to this person rather than this one summer downtown drive.