Anxious lion- if you were going to end up insane from anxiety ... you would have already been insane. People who are clinically "insane" don't realize it.
You sound like you're at my level of anxiety however I'm on a few meds. If you can stay off the medication and learn to manage your anxiety in different ways, you may be well on your way to recovery.
I might suggest looking into meditation, support groups, exercise, and a therapist if you don't already have one. Also you could learn to practice breathing exercises.
Here's a free website that's helpful...
www.pe2000.com This website has a free cognitive behavioral therapy (CBT) course that could be very helpful and CBT has been proven effective for the relief of anxiety. I figure it's free so it's worth a shot.
HUGS
TG~