Psych/Mental advice for a Trucking career?

Hey, so I'm kind of in need of some quick advice, suggestions, and/or helpful opinions from anyone involved in this industry. I'll appreciate any response. It's my 1st post, but I've been lurking through TTR forums for some time now. On to the question.

How should one go about getting psych./mental "help" while keeping their current job, or, at least, their credentials to stay driving? If I end back up in a BHU, on home time, what's the responsible thing to do regarding my company?
A little info for context.

I'm a rookie driver(10mos.) with a safe record, so far, behind the wheel. A possible issue being my mental state really seems to be trickling downhill. I mentioned "back" to a BHU(Behaviorial health unit) as I was "voluntarily" admitted 2yrs ago, and was told to continue with outpatient treatment and meds. I quit all that at once, in a moment of magical beliefs haha, last year. Also out of disappointment for the Army NG of all branches discharging me before my ETS.

I think I did a responsible thing this week and not get the truck rolling, as some strange tendencies seem to have made their way back to me. Something stopped me from potentially putting others, and company equipment, at risk. Currently sitting in my car taking a shamefully long time to type this lol.

I love driving, I kinda like OTR, but I probabaly screwed myself by not nipping strange brain things in the bud earlier. Also, I may or May not have communicated anything, verbally or written, about my health, in work-related settings, such as certain physicals, etc.
Thank you if you read this much and sorry if it's a long post.