Rabies is fatal and an animal that contracts it, will, typically die within a few days.
If your dog has been itching for 2 yrs, you might want to take it to the vet and find out if it has a skin condition or something. I wouldn’t eat food that my cat licked, either, but not because of rabies. Cats can carry other things that might not be good for humans.
I’d suggest you try to find a therapist that can help you with your health anxiety. It’s easy to read an article and automatically, think we have “something”, but usually, we don’t. Try to find a good therapist who can help you work through your health anxiety issue.