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Yeah, meds are not the solution to all problems. Some meds can at some times be useful for some people, but it is not appropriate to just blanket the population with benzodiazapines and consider the population to be mentally healthier. All sort of other stuff like improving social connection, reducing working hours, building skills, and so on can do a lot more to reduce anxiety and depression, but where is the funding for a local community garden or woodworking class?
First, start big. Get the basic shapes right with large lettering. Ideally you would have something you are comparing to like a stencil or grey printout so you can see the difference between your writing and the target.
After you have the shape fairly good large you can shrink it down. You can take your time getting to that and just make a little progress at a time.
If you find it impossible to shed your current handwriting consider using grid paper to force spacing and maybe try your non-dominant hand.