I have been dealing with what it seems like agoraphobia/pani

I have been dealing with what it seems like agoraphobia/panic disorder for a year now, I never leave my house unless I absolutely have to such as going to dr appointments and even that is difficult, when I'm in a car I get extremely panicky, I can't stop moving around and I feel trapped. My mind tells me I'm going to die and there's no way out. I have always been the outgoing type and hated being at home. Nothing bad has happened to me to make me feel this way. I have been to 3 different drs and tried several different medications and nothing helps. I need help to get better

Therapy? Exposure therapy and CBT ?