You already have a pretty good idea about what the problems are. I would agree that the symptoms you report probably add up to Agoraphobia and/or Social Anxiety Disorder and OCD. I’m glad you are searching for answers. I’m especially glad that you are concerned about the effect your issues may have on your little daughter. Both of you deserve to be able to go to the playground and to do the normal errands of everyday life without you falling apart.
I understand completely why going to see a therapist puts you right in the teeth of the problem. If it were easy for you to get to the therapist, half the work would already have been accomplished. Often people with your issues find it easier to get out of the house if someone they trust is with them. If that is the case with you, please consider asking your husband to go to therapy with you — not because he is in any way at fault but because you need the crutch, at least at first. Your therapist will help you get comfortable and will help your husband learn some practical ways to be more supportive of you. Eventually, you’ll be able to continue your treatment on your own.
Although medicine may take the edge off your anxiety, it alone is not going to be enough to help you get better. Cognitive-behavior therapy plus medication has been shown to be the best treatment for anxiety disorders. You do need both. I also suggest that you see a psychiatrist for your medications. As helpful as your PCP may be, he or she does not specialize in mental health disorders. A psychiatrist does. Klonopin prn is a good place to start but I suspect a psychiatrist will have an alternative idea of which medication you should be taking.
I’m very glad you wrote. That was an important first step. Now please follow through. With treatment you can continue your project to make a better life for yourself and your little family than your folks were able to make for you.
I wish you well.