Need Advice on Loneliness Please

I've lived alone for about 8 years. I'm in my late-20s and in July I had a nervous breakdown where I was really reexamining my life. I've struggled with depression and anxiety for a while, but despite having a lot of friends and living in a pretty active city, Austin, I just feel lonely. I have been seeing a therapist. Anyway, when I had that breakdown, I realized I didn't really know my parents very well. I had become distant from them and I really wanted to try and connect to them and have them be a part of my life before they're gone. I went back home for COVID because I was scared of what would happen if I was alone here in my apartment with my two cats. I get very depressed and sad when I'm just alone and not distracting myself with games or TV or whatever. I enjoyed the time I was with my family, but I thought that it would be nice to get some space from them for just a week and then I would go back. I came back too because in part, I feel embarassed and ashamed that I was enjoying the time with my family for the past two months. Part of my breakdown was struggling with these intrusive thoughts that when my parents die - they are both pretty old - that I would be alone forever and I wouldn't be able to deal with it. I feel like it was a mistake because I didn't really have to come back to Austin and being alone in my complex where there is practically nobdy almost seems like a sort've tortue. I do have zoom and discord and stuff like texting to stay in touch with my friends and family, but these feelings of sadness and lonliness really worry me and dont go away when im connecting virtually. If I'm having them after just being back in my place for two days, I'm afraid of what will happen when COVID finally passes. I'm scared to that im becoming co-dependent on having my parents around to make me feel comfortable. I feel confused because in my heart I want to be with them and I feel better just having them around during everything that's going on. But on the other hand, I feel like as a 20 something male, I have to try and get through these feelings of sadness and just tough it out and be alone, because when my parents die in the future I'm going to be alone anyway.

Please help or give me any advice. I'm feeling really shaken up and confused right now