We have adopted two rescue dogs who have anxiety disorder: noises, people getting close unexpectedly, lots of things bother them. They stick pretty closely to my wife, whom I refer to, in connection with the dogs, as "girlfriend."
Can we go on outings without them, and then extend the length of those outings to have a more normal life? Maybe. Today were gone for maybe two hours. We left the video running on my camera, pointed at the living room window and the sofa where we were hoping they would relax. The video ran for 20 minutes. Within about 10 minutes, one was lying down on the floor, the other still moving around a bit. Neither was frantic or whining. At about the 15 minute mark, they were both lying on the sofa, relaxing. Success.
Not a still from the video, but close.