Have you tried mindfulness as a therapeautic technique (as opposed to just bringing down panic)? It sounds like you're spending way too much time in your head, as opposed to concentrating on what you're doing and what's going on around you. And your example of passing someone on the footpath is perfect, because you can't win if you get too locked in your thoughts.
Mindfulness is one way of learning to get outside your head, and more focused on what's happening around you, and accepting things as they are. So when you walk down the footpath and someone passes, instead of getting locked into the tortuous merrigoround of whether they acted appropriately and whether you acted appropriately, experiences like that become more like, "Ok, just passed someone on the footpath, and they didn't move over, it is what it is, next thought..."
Acceptances & Committment Therapy may also be a good place to go, but mindfulness therapy is easier to do on your own because of the broad number of youtube, podcasts, books, etc now available. A psychologist would be able to help you practice that as well.
People don't ordinarily think everything to death you know? And while it's totally fine to be an introspective person, if it's causing you to beat yourself up over your living situation and every last little event in your life, then it's no longer a helpful way of operating.
Because the reality is, the guy you passed on the footpath? It doesn't actually matter who moved out of the way and who didn't. And if your internal dialogue is causing minutiae like that to become distressing, it's time to turn down the volume on the internal dialogue, so that ultimately when you pass someone on the footpath or you sit down on the couch, it can actually become just another enjoyable experience.
"This is me sitting on the couch. We have a really great couch. Next thought...":)
