Does anyone else have agoraphobia?

I have been unable to leave the house without someone with me, for my entire life. I managed to do it a few times during my teens but every time I did (I think I tried twice), I had awful experiences. It was hard enough taking those steps to do it in the first place, so when those things happened, it just made the whole thing worse. For context, the first incident was when I was walking my dog and a drunk man harassed me for my number. The second time, I was walking my friend home with my dog and on the way back, alone, a young girl approached me asking for a fight. I can only assume she overheard a conversation with me and my friend and took offence. In both these incidents, I just continued to walk away and ignored them. But as soon as I got home, I burst into tears. I have had a few occasions where I was able to walk my dog around the block (after I moved in with my boyfriend, so it was a new area without the trauma of past experiences), but after my dog died, I have never been out on my own. I can only describe it as a crippling anxiety whenever I think about it. I'm now 27, have no job, on benefits and depend on my boyfriend as if he were my carer (he's incredibly supportive and we have a great relationship). I feel so alone with this. I feel like I'm the only one and am surrounded by people who can do all these mundane things that make me so upset about not being able to do. I've been having therapy since I was 12, all who have tried to encourage me to get out alone. One therapist tried what they called 'habitual therapy ' which was essentially forcing yourself to deal with it until it becomes easy. To which I learnt that this is not appropriate for those with autism as it causes burnout. And as we know, that's not easy to recover from. My current therapist is amazing. I have learnt confidence and feel comfortable wandering off in shops, as long as I know the person I'm with is nearby. But again, stepping outside alone feels impossible. I just want some reassurance that I'm not alone and that maybe one day, I'll find a way to help me overcome it.

TLDR: I can't leave the house without someone and I feel so alone.