Welcome! My dogs are the ones that make me go out, even if it's just out the back door some days. Like you, I'm usually OK when I'm out and about, but thinking about going is very stressful, and I delay it until I have to. I also am utterly exhausted when I get back home.
I had a mini break through a few weeks ago when I read that a store I love had opened a location in a nearby city. I actually turned to my husband and said, "Let's go!" I hadn't done an impulse outing like that in years. However, we got halfway to the city when I realized it was a Sunday and this particular franchise is closed on Sundays. My husband just assumed I would want to go back home but I said, "I'm put on underwear, so damnit, we're going somewhere!" We just continued to the city and did some light shopping and hit a drive thru. Baby steps.
I also love books. I think you'll find a lot of kindred spirits here. Welcome again.