Your posting here is a good sign that you have the strength to get through this. You have enough hope to write as much as you did. Okay, then!
Did your pdoc say you had to pay off your entire balance before you could have another session? If not, ask what you have to do to begin meeting again. Find out for sure what your diagnosis is, then revisit the issue of medication. You should be able to do this in a consultation-type appointment that you could pay for at the time of meeting. You just need to find out where you stand.
I don't think most parents would be so forgiving or willing at this point to be there for you if there weren't something about you they thought merited their support. Possibly whom you knew yourself to be as a youngster is the "real you"--but you've got these issues that didn't appear till you were older. Now they need to be dealt with if you're to have a chance off getting on with your intended life & its true purpose.
Let this be a new beginning for all of you.

Please level with your folks. Tell them you owe the pdoc, then follow through with that meeting.

You want to do this. Your post is full of hope, even though you apologize for its pessimism. Absolutely everybody ever born screws up their life ... every one of us!! You have the opportunity now to do some things right the second time around. Your choice.

Please stay in touch. You have people pulling for you here already.

Roadie