R..
Anxiety does run in families...and as I saw behavior in my son that my parents ignored in me thinking it was just a "phase"...I wanted him to learn coping skills now at age 9. When I called the therapist (she is child psychologist, does not prescribe medication) she asked how old he was and when I told her nine she was very enthusiastic because it is a great age to start CBT (cognitive behavioral therapy).
We have only had two sessions and my son between the first and second went from not being able to sleep in his bed alone to sleeping all night alone in his bed. We are now working on falling asleep alone and it is going really really well.
Find a really good child psychologist (you might need to interview several)at deals with phobias and anxiety/panic.
He is so young that he shouldn't need medication just some good professional assistance in getting through this...you can private message me if you want and I can share more.
Big hugs to you and I am so glad you are looking into getting him some help.