The good news is now that you are an adult you can start to heal. My opinion is that joining the military would be good in general, but maybe you could have a psych evaluation first?

You seem to be a good person trying to do the right things. Please don't lose that. BUT taking care of yourself is very important. You can't do the things for others if you lose yourself. Today is the first day of your future. Start planning, set goals and definitely get help if you need to.