Tell them to stop driving so crazy because its scaring you.
Tell them that you would want to drive because you would feel safer.
I'd tell them that if their driving doesn't improve they have two options: they can either pull over and drop me off or they can let me drive.
Ask them to pole the car over and let you out or ask them to stop or take the keys form them.
I would ask them to stop the car and let me out then call someone
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