I feel the same often (wanting to be with parents).
Also early 30's and GAD.

When I used to have friends, they would try to get me to go out and I wouldn't answer the phone. It was scary to be around people I could not fall apart in front of. I had to keep up an appearance of being semi-normal to the outside world. I always felt too ashamed to let friends know how I was doing. Now, I don't have any friends. I have a couple I see once or twice a year. And it's really lonely. I wish I hadn't let the fear and shame deteriorate all my friendships.