Asking for Forgiveness - New to Faith, Need Guidance

Assalamu alaykum. I’m a woman who didn’t grow up in a religious home, but I’ve been thinking about faith for a long time. I’ve always believed in God and tried to be a good person - not hurting others, staying positive, avoiding gossip - though I’m not perfect. I’ve focused on myself, my family, and friends. A while ago something serious happened: I committed zina, and it has shattered me. I never imagined I would do this. Since then I’ve had panic attacks and constant regret. I feel small and not like myself. I was in a very bad mental state and difficult circumstances when it happened, and an evil whisper convinced me it was okay in the moment, but I know the consequences weigh heavily on me. I don’t want to share every detail, but I need guidance on how to sincerely ask Allah for forgiveness and how to seek forgiveness from anyone I’ve hurt when I can’t tell them. I’m overwhelmed and have no one to talk to - I’m scared of being judged. Please be kind. If you can, give simple, practical steps for repentance (tawbah), dealing with anxiety and shame, and how to move forward spiritually and emotionally.