OP... panic disorder, yikes. Me and my 3 DD's all are diagnosed with anxiety, but DD18 has panic attacks. We have all benefited from cognitive behavioral therapy to help us get over irrational fears. DD18 used to not be able to sit at her desk in her very small class at a private school, and needed me with her all day. Last weekend she graduated high school from a class of 390, and has been happily independent, active and outgoing at school, driving herself and friends, and is going camping next week with her friends-- all things I would have thought impossible 6 years ago. If you have not already looked for help, there's a really good percentage of success with CBT. It's a shame to let anxiety mar your wonderful DL trips! Hope it gets better for you!
On another note, I hope the @#^!@ posters who are making this thread a political one about gun control take it to private messaging. Enough, already. Don't hijack the thread, please.