Struggling with Anxiety and Depression: Do I Need to Go Back on My Meds?

So I haven’t taken my anxiety/depression meds regularly in quite a while and i mean it shows from time to time. My most recent episode proved to me that I might need to actually start taking it again. We went to the mall on a Wednesday, I’ve been sick, it was raining, and around dinner time. The main court area was so quiet, no music, no people, nothing. I kept telling my friend how nice my ears felt, I was so happy to actually be able to have a positive mall experience. Then, we had to go to a bigger store, they had piano music, employees all over, a few people shopping, bright lights. Just a lot going on. Escalator. Absolutely terrified of them, always have been. I start crying and explain to him that I cannot do it and we must go somewhere else but he takes my hand and makes me go on anyways. I grip on to the railing hard and close my eyes basically the whole ride, my poor hand was all red. Took me a few minutes to calm down once we are up there, then we get to shopping up there, but we realize he can’t find what he needs. My eyes water and I shake so bad, Im practically making a whole scene because of it. Im crying and begging him not to make me, going down is even worse, we get right in front of it and I almost collapse into dead weight just so he can’t take me onto it and cry out that I want to go home. I think my literal inner child came out. He found an employee and asked if they had an elevator. They did thankfully but I still needed a few minutes to catch my breath and to stop crying. Would this be classified as a panic attack? I have only had a few at school or with my mom and it’s been quite some time. I think I should go back on my meds.