I took Lexapro for a while and it helped me. However, I worked my way off of that, and now while I am less anxious than I was then, it's still a problem to some extent.
But yeah medication should be if not your first option a solid second or third. It's there for a reason. It can help. It exists because it can help.
You probably won't be able to get rid of it forever. I kinda consider my anxiety part of my personality, and it's pretty much the only reason I get any work done. That's just me though.
You can live a meaningful and positive life with it, but don't just try to power through it.