HELP! RESTLESS LEGS and ANXIETY (severe!!!)!!!

McCartney • Baby girl Mila Ford and the tattooed couple😊💕 33 weeks and so anxious for her here!✝👑
Hi Mama's! 
So I'm going to ask for some help/advice, please no mean comments. This is my first pregnancy and I was on Xanax and Busphar for severe anxiety and Clonidine for severe sleep apnea-I literally can't sleep without medication since I was a child...I stopped taking everything (as soon as possible, the safe way) when I found out we were pregnant but now with not taking anything AND having amplified pain syndrome and several other chronic pain diseases I have not only have constant nausea and vomiting (that I can handle) but also the WORST restless legs EVER , horrible pain and panic attacks. I am doing absolutely everything to avoid taking my Xanex or Tylenol (which has always worked for my restless legs, it's the ONLY thing!!!) but tonight I had to because I was having a severe panic attack and restless legs at once and my hubby and I decided I needed to take it as me not breathing and that much stress and everything is not okay on our baby. Now I already feel like the absolute worst Momma in the world. Especially since we just told the Grandparents and they are beyond excited...if something were to happen to our baby I would NEVER forgive myself. Is there anyone on here who has any of these problems?! I just need advice. No judgement on anyone. 💜 I am truly just trying to do what's best for our child who I couldn't be happier and more excited about. Please help! Thank you in advance. 😰😨😓