I think if you feel anxious, you have an anxiety problem? I would hit the library and bookstores, buy a notebook, maybe a workbook and see what I could learn studying my anxiety.

Going from not necessarily "bad" parenting, just insufficient, to being able to care for yourself will take some time as you have to learn what you did not learn growing up. Everything we learn takes practice. Unfortunately one cannot just be handed tools and use them correctly and well right off?

I would start to figure out myself then work with a coach or psychotherapist (not a doctor) some, maybe some of both to see which I found more interesting, effective, or useful.