This brings to mind the highly underrated movie Stuart Saves His Family. Surviving toxic people is hard, but it's even harder for anyone with anxiety disorders.
I'm sorry to hear about your bastard ex husband. The only thing that's really helped my anxiety is drugs. I'm guessing you've tried that though. Square breathing never really worked for me. Hope things are better now.
I know many people who handled it just fine, it must be a you problem. You probably misunderstood them most of the time. I'm sure they just wanted the best for you. A friend of mine handled it just fine and turned out a better person than most. Really, you must be overreacting to something that was probably just discipline. Surely, they wished the best for you and tried to build your character.
I have ADD, and my partner has GAD. I always feel bad about the pacing. 90% of the time, I've lost my train of thought/ something. I noticed if I say, "I'm fine; I'm just looking for something.", it helps a lot. She describes them as "frantic footsteps". I can understand why that would freak people out.
For me, its not that it would be irritating, but rather spike my anxiety and makee very uncomfortable, a feeling of being unsafe moreso than irratation