How do I stop being rushed while driving?

Choose a route that places fewer demands on you. Wherever possible, take roads you're familiar with.
Allow plenty of time for your journey. That'll remove the pressure to get there quickly.
Avoid driving at busy times. Rush-hour traffic is stressful to drive through and may delay you.
Avoid driving in bad weather.

Do I have ADHD or am I just lazy?

People who are lazy typically don't make an effort to complete tasks at work, school, or home. ADD/ADHD people, however, may try really, really hard but still can't tackle what they want to accomplish. This can lead to frustration, low self-esteem, and feeling bad about your abilities.