As our Jess has already said, the acceptance and understanding of your anxiety is absolutely the key. I also echo that you did have a rough time growing up, going on what you've told us there's definitely trauma there to work with and through.
I absolutely detest any version of the 'get over it' response, be it from friends/family or medical staff. I'm always caught between reactions - scream and rage, or collapse and cry? Ultimately I tend to end up freezing through overload and doing absolutely nothing....
Life is difficult with mental health challenges like these Reece, I'm not going to lie to you. In my 50s, I'm still struggling most days - particularly in the mornings. I hate that I tend to feel I have myself most 'sorted' late in the day, the it's bed, sleeping badly, regular spates of night terrors, and starting again the next morning feeling just as bad if not worse than I did the day before. BUT in the last few years, with a fantastic therapist for 12 months or so, I have been able to start to live with it all easier. Not give myself such a hard time. Accept and work with not against my issues, recognise that other people will most often not understand and react negatively - but I can sometimes just let that be their problem not mine.
Since I've known you, I've seen so much growth. Not just in your writing, but in you as an adult, in the way you think and respond to your challenges. Just remember, it doesn't all have to come at once and you are doing so well. You're not my kid, though you are very close in age to mine, and my maternal instincts are very proud of you!!