Beckki, I am terrified of needles. I am happy to say that my boys are not afraid of needles.
There are a couple of threads on this I believe.
I have one boy who LOVES the vet's office, so he goes on every visit. Jarvis and Mickey are more nervous, but warm up pretty quickly to the staff. Jarvis remembers having a catheter inserted, so he is tougher, but by the end of every visit, he tends to be calm if not happy.
I break shots up into 2-3 visits per cat- it costs more but it is less stress their systems in my opinion, so they all go 2-3 times per year.
I do take Mickey in the carrier with me sometimes when I am taking D somewhere, but I'm a bit cautious with that. Mickey is less confident outside of the house than D is. I only routinely take D in the car, the other two only go on car rides to the vet or to the one local pet store where I let them pick out their own toys.
Elsa at the Vet over all does well, as she knows all the workers.... Sometimes she will get upset when multiple dogs come in together... However, once in the back with the doctor she does well... She likes her doctor... Of course they have spent a lot of time together... She does not seem to be scared of needles, but I sure am!