Heck, I'm a well-adjusted 25 year old straight, virgin female. I have a good home life living with my parents and adult siblings. I've never been a social person, never had a boyfriend, and got off the antidepressants as soon as I realized my OCD wasn't caused by depression or stress. I'm only at home to save money.
Okay, to answer you properly, I will have to say I have no idea what it's like to have zero sex drive or have a panic attack. Being a virgin to the extreme is fine with me, but it really depends on the girl. If you go out and she asks, be up front about it. Don't be embarassed, that's stupid. Living with your parents seems like a good thing, but you need to be self-sufficient. Clean your own living space, cook for yourself, pay rent, bills, make sure you aren't holding your mama's apron strings. Consider moving out, it's not so bad. Girls don't like guys who can't care for themselves, and see a future of cleaning up after you stretch out in front of them.
Going off the meds might not be the best thing to do, but consider it as a possibility, as well as maybe changing them around. It's not that being on meds is a bad thing, but your mind is relying on something it MIGHT not have to. I could marry a guy on meds, it's not a horrible thing, it's just preferable for your health. If the alternative is the anxiety attack, forget going off!
If you're getting back into dating, take Hitch's advice: Women want to know the real you, but not all at once. Let them get to know you before you tell them anything that might cause them to assign you to a stereotype.
Best wishes for your next adventure!