PTSD and quality of life

I have suffered with depression for a number of years, which I believe is also a direct result of PTSD. I think they both influence each other a great deal. I grew up in an abusive home with my mother. My father was in prison most of my life, so he was in and out quite a bit. Mom was an alcoholic, so I also struggle with a lot of the effects of being an Adult Child of an Alcoholic. Anyway, at 6 years old, I saw my mother pulled out of a car naked by her hair. All I remember is being in the back seat of a car and being awakened by the sound of her screaming. That's all that I remember, but I believe that it was enough to have a HUGE impact on my life. I don't know how my mind as a child interpreted such an event, but now I have a huge fear of being raped. I mean, no one wants to be raped, but it goes beyond that for me. I can't hear about anyone being raped; I can't read about it in newspapers. A few months ago my husband was watching a movie where a woman was about to be raped, and I ended up screaming at him and crying because he was watching it and didn't understand how it would affect me. I am obssessive about doors and windows being locked at all times (a bit of OCD as well). I am hypervigilant when I am out in public; always scanning my surroundings when I am in shopping malls and parking lots. When I am home alone, the alarm has to be on at ALL times! I just feel like I am living my life in so much fear that it keeps me from really experiencing happiness.

I have been on meds for a while to deal with the depression, but I have never really been to a therapist long enough to really talk some of these issues out. I have seen two in the past who I really didn't vibe with because I felt like they were judging me and pretending that there was really nothing wrong. I am thinking about going back, but what type of therapist do you see for this type of problem?