ADHD with Severe Anxiety. Esteem and!

I wanted to ask if Can severe anxiety(like in GAD) co-exist with ADHD because my family environment was not good in my childhood. My father had & he has now anxiety problems & my mother couldn't keep good care of me when i was like 5-6 years old. And still it is going on now. Sometimes i feel panic attacks. No matter how much i try,i can't talk to my parents and sister because - 1) I get bored. 2) I used to hate my parents and my own family for disturbed atmosphere.Also i wanted my father don't have any stand on anything but i wanted him to have firm stand.I don't think i have or had any good relationship with someone or even with family members. I also have pleasing personality. I just cannot say NO.I have very low self esteem and regarded myself as inferior to others.My father became very weak in his early childhood due to his father.Because my grandfather was very violent & i think he had Borderline personality disorder.I witnessed many occasions when my father was being ridiculed.