Anxious about life?

I not only experience the day-to-day anxieties of “Oh my god, this project at work is out of my control, I don’t know what to do, therefore I’m going to panic,” but I also have much scarier anxieties along the lines of:

“What am I doing with my life? If I don’t *get better* soon, how am I going to be able to take care of myself, live a full life, be in a relationship?”

And those kinds of anxious thoughts really hit hard, because I’ve had so many mental health problems and trauma growing up that I have no friends. I’ve been living at home with my parents (who are supportive), but I feel like I’m in a cage, too scared to leave my house, too scared to learn how to drive (was in a minor accident as a young teen that scared me off of learning how to drive). I know, looking back over the years, that I’ve been improving, but it feels like I’m at a standstill or just not improving “fast enough.”

My anxiety manifests in anxiety attacks, hyperventilating, fight-or-flight responses, and a general sense of dread. But it also will come in the form of “butterflies in my stomach.” I’ve been really sensitive regarding anything involving my stomach since I was a kid and had a *really* bad stomach bug. Ever since then, I get really anxious when my stomach feels off. This, of course, creates a cycle of anxiety -> butterflies -> more anxiety.

Sorry for the long post.
Do any of you all experience this kind of “existential” anxiety?