Hi Jason,
You're situation definitely sounds like panic attacks. The good news is that you can get better. It may take a lot of time, but I believe you have what it takes. I've had anxiety since around 20 years of age as well, 6 years total now, and agoraphobia for the past 2 or so years. Now I haven't had a panic attack in 2 months, and I am able to go out by myself and do things I want! It's a great feeling, but takes hard work and determination.
If you haven't already started, try out the free program here. It can help you understand your situation and bring relief to many of the fears you speak of. Particularly with your daughter. After having that thought, having fear of that is completely understandable, and shows that you do care about your daughter.
As well as working with the program here, you can look into programs your country/county offers. For instance, where I live in America, the county offers free mental health services (lots of red tape involved, but for your family and especially yourself it's worth the pains!).
For the time being, you can try out relaxation exercises. They don't work wonders right away, but they can help bring down the anxiety in the long run. One such exercise is called progressive relaxation. Basically you tense up your hand, count to 5 with your hand still tensed up, then release the tension. Then you do this with your wrist, arm, chest, neck....basically work your way up and down your whole body.
It may be hard to trust me when I say this now, but you will be ok Jason. It will take some time for you to adjust and figure out what step comes next, but you've taken the hardest step of all, and from here out things begin to make sense and steps slowly get easier.
Feel free to post when you want, and let us know how your doing!