Nah, T isn't nuts, and neither are you
I think it is a great idea! You don't have to discuss your DX, nor go into anything like therapy. She might feel better and less frustrated by knowing how to help when you zone out (you know, to tap you on the hand or whatever) or to remind you to breathe (like we do for each other here at PC.)
Send her an email saying that your T thought she might come with you... that puts the request onto him, and if she says she isn't able to go ...you won't feel like she turned YOU down. TC