Yup. I was scared of everything everyone. It crippled me. In my case mother did it to me (she hated me)
I take paroxetine now, and have self helped for years. Mindfulness is good.
Tapping I find very helpful.
I'm older now and not scared, but wow, I wasted so many years being fearful.
I was bullied dreadfully, I was so terrified of people.

Your family don't sound good. Do you take any meds?