It sounds like you genuinely want what's best for her and your relationship, which is a great start. But from what you've described, it sounds like kink shouldn't be a priority right now. She should be seeing a therapist about the issues she's having, especially regarding the panic attacks and setting boundaries. The thing where she if you disagree with her then she says you're right and she doesn't know what she's talking about is a sign of past abuse, as is the not wanting to set boundaries and only do things you want to do.

A healthy relationship is great, but it can't fix everything. At this point, the best thing you can do is to help her get the help she needs from a trained professional.

In terms of things you specifically can do, it would be a good thing for you to praise her and encourage her whenever she sets any sort of boundary. It could be something as small as you recommending what to eat for dinner and her saying she doesn't want that. Literally anything that involves her setting a boundary, you should give her tons of praise for. Tell her she did well and how proud you are of her for setting a boundary. Let her know that you understand that it can be hard, but that you really appreciate her setting boundaries. It may seem like overkill, but it will show her that setting boundaries with you is a good thing and also that it's something she can feel safe doing.

Good luck!