I sympathize that you absolutely must have physical, in-person contact to remain sane.
The good news is that there are ways to do this and still be safe. For example, we have two families that we're co-sheltering with, who we know are being as safe as we are.
It's important not to conflate "lack of physical contact" with "complete isolation", because that takes away your agency (and your responsibility, since you've expressed a preference for putting others at risk) to improve your situation by being more social in safe ways — online gaming, virtual book clubs, drop-in ambient video calls with co-workers, socially-distanced hiking with friends, etc.
Also, we all need help sometimes! Online therapy can be great.