Definitely pursue therapy, it will be well worth it.
I think some of your fears are understandable (my younger sister fell out of the car when she was much younger and significantly damaged some of her teeth -from memory mum was in a hurry and had forgotten too ?close the door properly, not sure).
I would recommend you kiddy lock your doors. Most cars have this option where they can't be opened from the inside. Watch the windows though. Better still educate your children about the dangers -age appropriately of course.
The main reason for me writing this was to warn you of the dangers of sleeping with your child. There was an article in our newspaper recently about the increased number of infant deaths in our community due to parents placing them in their beds with them. Many of these infants were smothered or asphyxiated. It is much safer to have the child sleep alone in a cot. There are things you can do to protect your child. Usually there are organizations that provide support and information.
Please don't stress too much. In my opinion over-protection can be as damaging as not protecting. There needs to be a balance.
Is there a family member (a husband, etc) or friend who you would feel comfortable opening up too? It could help in the interim till you could access therapy.
The anger, etc could be from feeling stressed and overwhelmed. It sounds like you may just need some time or space for yourself (without the stress or responsibility of your children). Sometimes just another pair of eyes helps to take the pressure off without feeling you need to be so hypervigilant all the time.
Good luck with everything and please look into accessing support/ therapy.
J
Sorry to hear about all the misery. As you probably suspect you shouldn't just live with this. Get yourself into therapy. These are all very treatable problems.
tg