Welcome to PC elflauta. Hope you find some help and support here.
No it's not wrong that you find comfort in your mothers robe. It would be a good idea that keytones had in having it made into a pillow or two. That way you hug it and know what it means to you without having to explain it to any-one else.
Many people have stuffed animals for something to hug at night. It does bring the level of anxiety down.