I have some of the same issues. The only place I've been without my husband in the vicinity is my hairdresser. I don't know why but she puts me at ease.
My husband drives just about everywhere, so I haven't driven much either. It's hard to drive around here, though, with everything close by. I would really love to move; however, house prices are expensive for the amount of space we need. Plus we have two young adults going to college and staying here to save money for when they move out.
While I haven't had panic attacks in a while, I still feel really anxious. I do a lot of stuff online, though, like going to college. So, it's not like I'm bored and scared at the same time.