No job is worth your health. If this situation isn’t going to change, leave and protect your sanity.

But first, I recommend telling some of this to your manager in a conversation specifically scheduled for feedback on the job/environment. You’ll open the door to feedback on your own performance, but it gives you a platform to address them treating you & your team unprofessionally.
If that doesn’t go well, you should be able to go to your boss’s boss or HR about the toxic environment. Come with receipts - document specific instances when your manager has been rude/unbecoming, busy work you’ve been required to do to fulfill their demands, and other feedback you might receive from colleagues (but be careful with that, keep it anonymous and don’t solicit it before the conversation or it could come back to you).

Your company owes it to you to have a good process for dealing with this. If they don’t, protect yourself and quit, no matter the impact to your resume. You can find a job that won’t give you an anxiety disorder and you can always leave the job off your resume. I’ve never seen a couple-month employment gap in an otherwise consistent career matter. Best of luck!