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First, this sounds like typical ADHD behavior to me. Have you considered the possibility that you may have ADHD? If not, they research it a bit. (Right now -- Go ahead, I'll wait ;-)
Also, you seem to have a constant feeling of insecurity, of being "less than". Even though you have obviously accomplished a lot, you are still in a panic over not accomplishing enough. This is just a guess, but I'd bet it has affected your life in a a lot of ways far beyond your programming career. That's OK, you are certainly not alone, but just something else to mull over in your mind, and why I think mindfulness and metta meditation might be especially useful for you. Check out "Pragmatic Buddhism", as well as Jack Kornfield, Pema Chodron, Tara Brach, Shinzen Young, and simiplar teachers.
I'm stressing meditation because I've found it to be the most effective way to deal with similar issues in my life. It's not fast, or easy, but it seems to be the most effective thing so far.
And to actually add something useful to the discussion, I'll add that I think the key to dealing with fear, and distressing emotions in general, is not to try to get rid of it, but to learn to function effectively in it's presence. Sometimes fear is a valid response, and should be respected. A lot of the time, fear is not a useful response. Sometime, when fear isn't seen for what it is, when I'm acting out of fear but not aware of it, fear can be quite destructive.
Check out "Things Might Go Terribly, Horribly Wrong" (http://www.amazon.com/Things-Might-Terribly-Horribly-Wrong/d...), as well as almost anything from Pema Chodron.