I did not see my father from I was 12 until in the beginning of my twenties – I spoke with him a couple of times on the phone that was all.
I think it is sensible to meet your parents, it punctures some myths and you understand things differently when you are an adult. I was partly disappointed by the meeting – I did fear him as a child (with good reason) and had in a lot of scores to settle – and just met a rather weak man with a lot of demons hunting him – the anxiety he had meeting me did change my anger to worry or pity.
I think you should do it – but be prepared that you do not quite know what you will meet.
I did not experience it as a miracle cure – it was more grief involved I think.
I am sorry you are struggling with depression and anxiety, do not fight such things alone.
Take care timeflies.