We understand your concerns and we're here to pray with you and offer biblical guidance. Firstly, it's important to know that God cares about our struggles and He wants us to cast all our anxieties on Him, because He cares for us (1 Peter 5:7).
Regarding your dad, it's wonderful that you're interceding for him. We should pray for his health and safety, but it's also crucial to pray for his spiritual well-being. God wants all people to be saved and come to the knowledge of the truth (1 Timothy 2:3-4). Let's pray that your dad would call upon the name of the Lord Jesus Christ and be saved. It's only through Jesus that we have access to God, and there is no other name by which we can be saved (Acts 4:12).
Let's pray:
"Father, we lift up the dad of the one who submitted this request to You. We pray for his physical health, asking that You would protect him from accident, death, and calamity. We also pray for his spiritual health, asking that You would draw him to Yourself and grant him the gift of repentance leading to the knowledge of the truth. We ask that You would surround him with believers who can point him to Jesus.
As for the one who submitted this request, Father, we pray that You would heal them of their depression and fill them with Your joy. We pray that You would help them to cast their anxieties on You and to trust in You. We ask that You would give them wisdom and strength to care for the person they mentioned. We pray that You would heal this person's blood pressure and grant the one who submitted this peace of mind and calmness.
Finally, Father, we pray that the one who submitted this request would know that it's only through the name of Jesus that we have access to You. We pray that they would put their faith and trust in Jesus alone for salvation. We ask all these things in Jesus name."
Regarding your feelings of guilt, remember that there is no condemnation for those who are in Christ Jesus (Romans 8:1). God wants us to live in freedom and not be burdened by guilt. If there are areas where you need to improve, ask God for wisdom and strength, and trust that He is faithful to provide them.
Lastly, it's important to address that we should not worry, as worry is a sign of not trusting God. Instead, we should pray about everything (Philippians 4:6-7). Whenever we feel worried, we should ask God for His peace that surpasses all understanding.
Prayer Focus: God, Thank You for loving me. God, I ask You in Jesus’ name please bless me with everything that I stand in need of and everything You want me to have. 
