Should I have an upper endoscopy?

[nateast]

Should I have an upper endoscopy?
I’m a 48 year old male.  Since childhood I’ve had issues with nausea when I'm feeling stressed or anxious.    I have had issues with anxiety and panic attacks and I have taken anti-depressants in the past although the side effects were too much to bear and I had to get off them.  I’ve been to gastroenterologist maybe 4 times or more in the past couple of years.  One of them told me to be careful of drinking orange juice since this may be too much acid.  That advice was helpful.
Each time they ordered an upper endoscopy and each time I decided not to have it done because I didn’t want any unnecessary procedure done.
About 6 months ago I was going through a very stressful period again and was feeling nauseas from time to time so I went to a gastroenterologist again.  He ordered a bunch of test including an upper endoscopy.  Again, I decided against the upper endoscopy.
The doctors seem to order a test depending on what I tell them.  If I say I feel nauseas they order the test.  If I say I’m feeling ok they say you don’t need it.  
My primary care physician asked me if I feel any pain or discomfort and at the time I was feeling good. He said if you don't feel any pain or discomfort you should have an upper endoscopy and didn't give me a prescription.
The last couple of months SINCE I went to the gastroenterologist my stress level and anxiety have been very low.  I’ve been feeling really good about things and I have not been feeling nauseas at all for the last couple of months mostly because things in my life have been improving a lot.  This makes me feel like a lot of my anxiety issues were situational and not as much biological.
My family says it’s all in my head and I’ve been like that since I’ve been a child and that I should not have any unnecessary procedures if I don’t need it.
However, when I cancelled my endoscopy 6 months I RESCHEDULED it and I’m supposed to have it next week.
Should I have it or not?  Am I overanalyzing this?