Hello Laine

Welcome, welcome to you I'm so sorry you are suffering anxiety and depression, many of us do, here we do our best, turn it on it's head together, put on our oxygen mask on first, come through to a better place together
Laine, communicating boundaries, setting limits never comes too late, us parents are all here to support you. Take your good time, have a look at the communication tools and lessons to your right

You can get off your daughter's rollercoaster, step out of her drama will likely help her.
I have a simple 3 point plan that works for me, handing responsibility to my DD
1. Health
2. Work, or not
3. Independent living
I'm at point 2 at the mo.
How might your simple plan look like in your unique situation, handing responsibility to you daughter? You've mentioned financials - you're drawing a pension, you are a punch bag ... .
Great rant, we all do from time to time, blow out. This is a safe and loving space you've joined
We are here walking with you, always.
WDx