How can I get my life together while struggling with anxiety and depression?

I'm not happy with me, my life my, my living situation basically anything in my life and I feel ungrateful because of that.im 28 years old I was born when both of my parents were young but they later got married had my brother later on but my dad always cheated and beat on my mom I never really seen it but always heard it it was mostly a daily type deal they told me to go to my room and I knew he was going to beat her.( Not that my mom was a saint) but this was abuse to her.My brother was born later on my dad also had multiple kids by other women) also but my brother was born autistic, my dad left later on when I was maybe 11 or 12 he moved and they moved on we lived with my grandma that I was very close to ,my brother was violent because of his autism so violent that he would turn tvs over the entertainment center,etc. And try to pull me my mom and grandma's hair or bite or kick or hit us, my mom took great care of him as a single mom the best she could  until he got so violent we couldn't control him like calm him down no more and we were actually scared he would hurt or even accidentally kill us by accidentally hurting us so he is with a trained foster care type person now living with her.my life has been crazy I've had many relationships a lot I regret but anyway back to living with my grandma ,my mom me and  brother lived with her many years on and off I was always extremely close to my grandma cuz when my dad would beat my mom alot shed let me stay with her anyway when we lived with her later on in 2016 we found out she had colon cancer I think it was already stage 3 she got better on and off but eventually worse it spread and she died,I moved in with my boyfriend cuz I had nowhere to go we were together maybe 7 or 8 months she passed and then I moved in with his family I am unhappy now and have been before but worse now I've always mostly struggled with depression,anxiety,and sleep problems I feel like a failure because I never had a want to before to get my driver's license a job nothing up until a few years ago I got my first job and then couple more jobs that led to the one I'm at now but laid off cuz of Corona virus I've been there almost a whole year but I still haven't managed to learn all the way to drive and get my liscense I'm living with my boyfriend's family and him, have no place of my own, still not married ,why can I not get nothing together ? I am almost  thirty and I have a want to now to change but I keep failing miserably there is more to include here but I think you pretty much know my life story so yeah lol