I have very similar problems. The thing that I have learned about anxiety (I have had it my entire life) is never ever give into it. This is what feeds it and makes it stronger.
I tired counseling for awhile but at 40 bucks a session I stopped going. It did help me a little.
There is no quick cure for it. I deal with it one day at a time and this is all you can do. I wish I had an answer for you, then I would also have an answer for me