Hello! :)
There are several poems in Survival Songs related to depression (Dating A Mutual Ghost, A Doctor’s Office and Suicide Hotline Are Approximately the Same Thing, and Letter to My Future Daughter When She Wants to Kill Herself), but there are not really any poems that could be specifically placed into the anxiety category.
Healing Old Wounds With New Stitches has more poems about anxiety and depression, however, so that is always another option!
Have a nice day.