Thats a terrible feeling, I have been on both sides but I would rather be in the car then on the flat beach. I get nervous in very open spaces such as giant parking lots or beaches. In fact, I had to sit in the car and watch my family go into the ocean then I forced myself to join them. We live in stressful times, nothing good on the news; seems like all hell is going to break loose any day and the world is going to end. The truth is the world ends when its your time, you don't pick your time! We are here for a experience and yeah, I have been living with this condition for almost 20 years, I take meds because I prefer it over drinking which I did do a lot to try and deal with the anxiety. Drinking is not going to alleviate depression or anxiety long term and its damn hard to stop so hopefully you were not stuck in your car drinking.
I had to force myself out today, tomorrow and every day. I love myself, you need to LOVE YOURSELF! If you love yourself you will help yourself, no one is going pity you or do it for you, I know it sucks but its the reality of the world we live in. One thing for sure is that you, I and a lot of others share the same problems and we are here to talk about them. What medication were you taking?