You know, I have always heard that caring for elderly or infirm family members is one of the most stressful things a person can do. You are your own person, with your own life, so being pulled in multiple directions for the needs of others makes meeting your own personal needs and responsibilities that much more difficult. I think it's perfectly normal that you're having a more difficult time at the moment. I agree with Jan that what you're describing sounds like depression, a common problem for anxiety sufferers as well as people caring for aging parents. There are a lot of issues wrapped up in that role reversal, especially when your family is not pulling through to help. Therapy may be a good option for you. If nothing else, it would give you an allotted time each week that is all about you. Someone who's purpose in your life is to care about you and only you, to be on your side and help you in whatever way they can.
It makes me glad to hear that you can look back and see how far you've come. That's a good thing. It proves that you have the power to improve your own life. I have faith that you can continue to do so. Just don't think that you have to do it alone.