My husband had a seizure while driving

I can't sleep! I keep getting flashbacks of what happened yesterday when my husband had a seizure while driving. He was diagnosed with epilepsy, grand mal, at the age of 15 years, but he hasn't had any seizures since 2012. We got married three years ago. Everything was going just fine, no health issues, we both lead a healthy lifestyle, he is a CrossFit athlete... You know everything was ok. He had a recent EEG and a brain MRI; everything looked good, so the neurologist decided to take him off one of his 2 medications. We stopped the Topamax in January and repeated the EEG, again everything was fine. Yesterday we went out for a drive in the car. On our way back home, we were listening to music, suddenly my husband raised his right hand. I honestly thought he was dancing to the beat! He kept his arm hanging in the air, and he was just staring. I called his name, but he did not blink, and the car started to drift. I did not realize that he was seizing. I began to shout his name and scream. The car was accelerating! His foot was still pressing on the gas pedal, we were in the middle of the main street. I thought, is this how we are going to die? Really? I immediately grabbed the steering wheel. I heard him making that awful sound, gasping for air, he was salivating, his eyes rolled back, his head was shaking, his hand was still hanging in the air and shaking. My heart shattered... I was screaming and praying. I could not reach the breaks, so I took out the car key and tried my best to control the wheel. The car eventually stopped. I don't know how it stopped without hitting anyone or anything. I was so grateful to the Corona precaution instructions because people stayed home, there were unusually only a few cars out there. I called 911. His seizure stopped. I think it lasted for a few minutes. His breathing was forceful and not very regular. He was so confused. He wet himself and seemed very uncomfortable. A police officer approached me, he had no idea what epilepsy was! I called my brother who came before the ambulance. I decided to take him home. I couldn't speak, my eyes were pouring. When we got home, I changed his clothes and put him to bed. He then asked me what had happened. I told him he had a seizure and that everything is ok. I sat down, trying to grasp what just happened. I felt grateful that we managed to get home literally in one piece. The following day he asked about what happened in detail. I tried to lighten the story, but it was not light. I tried to act as if everything was ok, but it was not. He asked me if I got scared, and I said yes. For the rest of the day, I felt that he was acting apologetically. It broke my heart. Because it was not his fault, it is no one's fault. We agreed that he wouldn't drive for a few months. Good thing that he is currently working from home because of the Corona situation. He will see his neurologist tomorrow. But I'm scared. I don't know if I'm in shock because I saw him seizing for the first time or because it happened while driving or both! I love him so much, I don’t want to share my fears with him or make him feel bad about it. I’m thinking of talking to his sister, who knows his seizures very well but I don’t think he would appreciate this. He is a very private person. I'm reaching out to you guys to vent. I hope someone could give me advice on how to deal with my husband after this, I'm trying to act normal but I’m not feeling ok. How can I show him support? How can I help? Are there any signs before a seizure? He told me that he felt a bit confused that morning as if his memory/ reality was skipping some parts. Thank you all for reading this. Whoever you are, your support means a lot to me. Love Jada