Similar to the OP, I had a lot of anxiety around math and academic performance. I dropped out of college at 18 and the highest math class I took was in high school (pre-calc), which I almost failed.

At age 33, I enrolled in community college and took Calc I-III, Linear Algebra, and Differential Equations. The community college hosts weekly "math jams" and offers free 1:1 tutoring.

I'm currently taking a Discrete Math and Probability class at UC Berkeley for fun this summer (CS70), which would have seemed absurd just a few years ago. The community college system in California is extraordinary; I'm glad I got to experience it first-hand.