I went to the lake and tried driving today with my mother for Mother’s Day and with her boyfriend

 So I have generalized anxiety disorder (GAD) and social anxiety disorder (SAD).
So when we went to the lake my anxiety was pretty bad and I felt exposed, I wasn’t getting along well with my mother and her boyfriend, my older brother was not able to come with us since he got sick the day before from work.

My mom and her boyfriend could not understand why I didn’t want to be there and wanted to be in the car or that I only went because it’s Mother’s Day. (I also didn’t know we were going to the lake so I was not prepared.)

I was begging to just get the keys and go to the car (my mom is very strict and a helicopter parent so she did not listen. But I also understand she just wanted me to spend time with her since it’s Mother’s Day.)

I wanted to be there since it was Mother’s Day but felt so exhausted just socializing and being around people, especially because our new dog is a handful.

Once we started leaving I was chosen to drive because I said I would and wanted to practice (since my anxiety makes it difficult for me to get behind the wheel.)

as I drove my moms boyfriend kept telling me the rules and what to do and not do, which is helpful but I felt overwhelmed especially because my mom always does that when I drive with her. It got to the point I started panicking bad and said I want to pull over. They didn’t understand and wanted me to keep going since I was only driving for like less than 10 minutes.

I pulled over and felt a panic attack forming (I am pretty sure it was a panic attack instead of an anxiety attack, correct me if I am wrong.) I couldn’t breathe, my stomach hurt and chest felt tight, I couldn’t see well, I felt nauseous and dizzy, I had a headache, and I couldn’t move well.

During that my mom was like “why are you freaking out?”, “you are fine”, “why are you crying?”, “just breathe”, “stop, you are okay”, “just calm down”, “why are you acting like that?”. My moms boyfriend thankfully was like “just leave her be”, “just stop”, “she doesn’t want to”, etc.

So I stopped driving and instead sobbed silently in the back because no one understood what just happened or how I was feeling. I can’t control it and didn’t expect it to happen. I feel they don’t realize if I stayed on the road and I had a panic attack we could’ve gotten into an accident and I would’ve been traumatized or worse.

I need advice and help on how to explain my thoughts, feelings, and disorders. I am already feeling depressed and going to see a psychiatrist for medication for my anxiety disorders and depression. But I just feel so alone and need help. I already did posts about my other worries but it hasn’t gotten many attention, please help🙏🏻