There definitely does exist less stressful software engineering jobs where you won't have to make big, important decisions or mentor other people. Some web dev agencies/consulting companies can actually be very nice to work at, for example, since you'll often get to work on greenfields projects. Try looking at smaller companies or maybe governmental or non-profit companies.
On a coping note: prioritize reducing your stress/anxiety in whatever (healthy) you can even if you feel guilty for not getting enough work done. For myself, I've had to do things like force myself to go for a walk every afternoon even if I hadn't completed all my tasks for the day yet, shut my computer off at a certain time, visit family over the weekend even if I feel like I need to stay at home and "catch up" on work, etc.
On a coping note: prioritize reducing your stress/anxiety in whatever (healthy) you can even if you feel guilty for not getting enough work done. For myself, I've had to do things like force myself to go for a walk every afternoon even if I hadn't completed all my tasks for the day yet, shut my computer off at a certain time, visit family over the weekend even if I feel like I need to stay at home and "catch up" on work, etc.