Absolutely do a telemedicine call with your doctor to discuss getting back on medication. If you're anxious about going out to get a prescription in a store, CVS will deliver to your home for free regardless of your insurance (I've just used this service). So as long as the medicine isn't restricted (Xanax is, but not SSRIs), you wouldn't even have to leave your house to get it.
I'm currently on 20 mg Prozac and Xanax (prior to COVID) for anxiety, but I've definitely felt my anxiety increasing further during this time. I'm thankful I was already dealing with the anxiety beforehand.
I've also found that after I've been with the kids all morning I have a hand-off time to my husband when I get a break (late-afternoon), and I go take a hot bath EVERY single day. It physically calms me down and helps me process what's going on in the day/world.
Another thing that has helped me tremendously with anxiety is this book. It has excellent techniques for managing anxious thoughts:
https://www.amazon.com/When-Panic-Attacks-Drug-Free-Anxiety/dp/076792083X