This sounds to me (though of course I can speak only from experience and am not a mental health professional) like some form of a dissociative episode.
Grounding seems to be the way to go.
At home, I suggest taking an orange and keeping it in your freezer. When you feel disconnected and dissociated, take the orange out. Smell it, touch the rind, feel how cold it is. The orange is recommended and I learned this from a Trauma & Dissociative Disorders Unit and it helped a bit more than the usual grounding methods I tried.
For when you're out of the house, maybe keep a handwritten card that says the year, your name, where you live, where you are. Reference this and read it aloud to yourself to remind yourself of what's going on.
Take some time to sit and plant your feet firmly on the ground and focus on feeling them touching the floor. Breathe deeply and calmly. look at your surroundings. Pick a few things and aloud describe their shape, texture, color, etc.
Dissociation and its symptoms can indeed be very scary. If you're worried it's something physical, check in with your regular GP.
I hope this helps a bit. All the best to you!
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