Anxiety medicine while pregnant?

Is there a safe anxiety medicine to take while pregnant? I’m 23 weeks and truly trying to “tough it out” but my anxiety is becoming debilitating. I’m getting almost no sleep every single night because of it. My husband works night shift and I’m home alone, and last night he had to leave work because my anxiety was uncontrollable.

I hate to admit defeat. But I am so tired. I hate all of these things I’m feeling (not depressed at all.. but getting too anxious to drive, being too scared to open my bedroom door and walk around my own home after it gets dark outside, etc)

Will I harm my baby if I take prescribed anxiety medications? Is there something I can do before medicine?