Questions: is the fear of being alone in and avoiding certain places or situations that might cause panic, helplessness, or embarrassment.

The term you are looking for is "agoraphobia."

Agoraphobia is an anxiety disorder characterized by the fear of being in situations where escape might be difficult or help might not be available in the event of a panic attack or panic-like symptoms. This fear often leads individuals to avoid certain places or situations, such as open spaces, public transportation, or crowded areas, where they feel vulnerable or trapped.