It sounds like you've been through an awful lot in your life and have overcome lots of different issues in the past, so I feel confident that you'll also be able to win the battle against the fear of leaving the house that has developed now.
One thing that could help is making a list of all the things that make you scared about going outside and then you can work out solutions to all of those potential problems and manage a very brief trip outside to start with. Would your dad be supportive in helping you to get back outside?
I don't know what kind of area you live in but maybe something like meetup would be a good place to start with trying to rebuild your social life. You'll find all sorts of people on there, some of whom may well struggle with similar issues to you.