Feel like the worlds shittiest mom

I am 32 weeks pregnant with my second. My first is 3 years old. I haven’t been sleeping and some mornings I will give her her tablet and cuddle her for a half an hour or an hour. Last night and the past week I’ve gotten 2-4 hours of sleep a night. This morning I fell back asleep for an hour and a half while she watched a movie and I woke up completely panicked because she wasn’t in my bed anymore. I feel like such a bad mom this has never happened before. I would have never forgiven myself is something happened while I was sleeping. I do have anxiety and panic disorder, and am not sure if I am the only mom who has done this accidentally but it sure feels awful :( I called my mom as soon as it happened and she told me I was a shit mom and I should feel horrible about it. I don’t know how to feel or how to forgive myself. My husband said to try not to beat myself up and that I’ve been overwhelmed and exhausted but I can’t help but feel like a bad mom :(