Me personally? I think this is probably the wrong forum to het meaningful assistance with your questions about "how do I cope with this support worker?"
It's a good question. It's an important question.
But...
This is a ptsd forum. The answers you get here will be answers for a person who needs help coping with their support worker primarily because their ptsd is making that difficult. The answers will be from people with lived experience of ptsd.
But your situation is different. You have a significant condition, requiring professional care, which impacts the way you think and process these things. Most folks here don't have any experience with that condition. Most folks here know very little about that condition.
I think you might make huuuuuge headway asking your question "how do I cope with her" on a forum specifically for people with your condition. Not just because they'll understand the condition itself, but because you'll likely find peers who have had to deal with a similar (if not the same) situation, and find a solution which works for someone living with your condition.
Answers here are potentially going to be helpful for someone suffering with ptsd. But they may be completely unhelpful, potentially making the situation worse, for a person with your condition.
That is not me saying "go away, you don't belong here". It's me suggesting that some of your questions will be best put to people who know your condition. And personally, I think this might be one of those questions where it might matter, and potentially be the difference between getting responses that are helpful, versus responses that are just making you more frustrated.