What are my options on a 15 year old FTA warrant?

About 15 years ago, I was in college and failed to pay an out of state speeding ticket. My license got suspended. I was pretty young and naive and honestly thought I could just ignore the ticket, but one night I was driving in yet another state when I suffered a medical emergency. My car crashed (just my car was involved in the accident). After I got out of the hospital, I received a misdemeanor citation for driving without a valid license. I showed up for my court dates and pre-trial conferences, and the prosecutor agreed to dismiss the charges if I paid the tickets and reinstate my driver's license. I went to several of these court dates even though they were in another state, I did what was asked of me, but in the end I missed my final court date because my transportation fell through at the last minute. I had a pretty bad home life at the time. Anyway, what happened after that is I didn't know that I had a FTA warrant issued for me. I didn't know if there would be consequences for missing the court date or not, I was kind of scared about it, and when I didn't receive any further correspondence, I just decided it was better to leave the whole issue buried. I had never been arrested before, and since nobody seemed to notify me or come looking for me, I didn't want to get into more trouble and just ignored the issue for all these years. I've even been pulled over by police for minor traffic violations since then, and all this time nobody had ever arrested me or told me there was a bench warrant out for me. Obviously, I knew I had missed the court date, but I didn't know about the warrant. Fast forward to now and it's been almost 15 years and I finally found out I do still have this warrant in another state. I called the court there and they told me I can write the judge and call the prosecutor, but the only sure way to deal with the situation is to come to their court and turn myself in for arrest. Isn't this extreme?