Please help me.
I'm 22 years old. I know if I did this- it would change me. Period. How the hell do I do it?
Such a trip might change you, but if it does you'll find out that change comes from within you and not from some external source.
Since you mentioned your phobias and situation candidly, allow me to read between the lines and suggest that you letting far too many external factors dictate things in your life. Seems like that is the true barrier you need to get over. If you go away and come back to the same situation you will still need to face these issues again.
So my advice is, whether you get to go on an epic trip soon or not, find a way to make peace with or slay your internal demons beforehand. And then when you do go (and you will if you really want to) you'll have a much better time.