Anxiety is taken over my life!!!

Okay so I'm 28 years old and iv struggled with anxiety most of my life over super stupid things! Examples....I'm terrified to drive. Like anywhere! It's been a struggle since my husband works full time and I'm 33 weeks pregnant and driving myself to apts puts me into a straight panic, I will legit do anything to have someone take me or cancel apts etc. I have my license and used to drive a good amount when I was younger but iv always been super scared. I feel like i can't even take my son (4) out cuz I'm so scared of driving and I'm so scared about him starting school since I'll have to take him and pick him up. It's so sad and pathetic! Then another example is I'm scared of any insect that can sting, bees, Hornets, wasps etc legit I have jumped out of a moving car to get away from a bee before. My husband is scared when I get like this and it's very bad anxiety I get even thinking about going outside in summer. I also have bad anxiety being around a lot of people, I think there will be a shooting or something bad, every time we go to eat some place I have to sit somewhere by the exit and I can't have my back towards people. I feel like my anxiety is not letting me live a life. Iv never seen a doctor for my anxiety since the one time I did when I was 17 they just thought i wanted to be medicated to get high. Stupid af! Idk how to cope with the anxiety I have.When my attacks come I feel hot. Dizzy, frantic, and sick to my stomach, And being pregnant doesn't help. Anyone else going through this?