I know this feeling. Wanting to pack up and go. Right. Now. Hang on because it will get better, it will ease up.
What we really want is change. We don't want things to be the way they were and the way they are. Focusing on the way things are now, and the way you want things to be, shows you the direction you wish to go. You've had major life challenges. Making your life different at any age is possible and you are worthy of the changes you want in your life.
When we think about how we wish for things to be, we can see the huge difference between how things are now, and how we wish them to be. It may seem impossible to stay put and make these changes because it seems so overwhelming. All change begins with steps and you are already taking steps by getting your car back, going to work.
Scary things make us want to run. You don't want to open up. It sounds too scary. You opened up a lot in your post. So you know you can do it, and that's great!

Keep going...
You can start over and you are starting over. You can learn to be the person you long to be, one step at a time and with help.