I’m terrified of walks

I live in a very busy area and have 2 1.5 year old chihuahua mixes. One is a puller and one is a puller and an escape artist. The escape artist is anxious and struggles to tolerate bulky harnesses, so we use a step in harness that is comfortable for him. We’ve been making progress with pulling. We recently had an incident where my anxious dog got overwhelmed and almost backed out of his harness. I then coincidently saw a few posts about leashes breaking and dogs escaping. I’ve now developed a huge fear of my dogs escaping on our walks and running off. We’ve had a few instances where they ran out my door and down the street a bit, but have always come back. We’re working on our recall and I plan to get a 3 step harness, but I still worry about the leash breaking. I’m thinking of getting a two point leash so they’ll always be connected to me. But I just can’t stop with the what ifs. What if they are too overwhelmed to listen. What if there is a car nearby. Anyone else struggle with this?