Advice please?

I am purposely going to a close in state public university so the tuition isn't too bad but the $32,000 debt terrifies me because I'll still have 4 more years if grad school after I get my degree that I have no idea will cost me. I just don't know what to do. I'm paralyzed with the fear that my life will just always be this hazy grey thing filled with fear and resentment. How am I supposed to survive that, what do I do? I'm sorry for those who have read this far I know I'm just rambling and hope no one actually took the time to see any of this. I just couldn't handle my thoughts anymore. This all too much and I'm not even on my own yet. The future that awaits just seems outright terrifying. How did you guys do it?