Ask yourself… what is your ACTUAL hesitation? What do you think is going to happen if you go to therapy? You have found therapists that work with your insurance, so that's not holding you back. You know you can take your child with you, do a phone session, or go at a time when someone can watch your son (babysitters do exist), so that's not it. Are you afraid of facing this? Honestly, I can tell you it's SUCH a relief to talk to someone and discover that you aren't alone, and that you CAN fix this. Medicine HELPS. If you didn't like zoloft, try another ssri. But I suggest seeing a psychiatrist for your meds rather than just a GP. The psychiatrist will help you through this and will be on call at ANY time you have a question about your meds.
I honestly think you like to worry. It is serving a purpose for you. It's an addiction. I don't think you can get better without professional help. We all see it, but I don't think you will be able to see it until you are on the other side of this, if you ever choose to take that leap.