I’m sure this is very uncomfortable. It wouldn’t be ethical for me to diagnose your coworker since I haven’t interviewed her. What I can do is remind you that you and your colleagues have a right to a comfortable workplace. Although I certainly appreciate your compassion about your intrusive co-worker, you are not obligated to work under these conditions. It is not a service to her either for her to not get constructive feedback and support so that she can be an effective and cooperative colleague.
Please talk to your supervisor or to the Human Resources office about your concerns. Tell them just what you told me — that you empathize with your coworkers challenges but that she needs to be helped to understand how her behavior is interfering with other people’s work. Hopefully, she will then get the supports she needs and you and your fellow workers won’t have to be working around her issues.
I wish you well.