Brother can't order in Drive Thru's, aged 25. I used to help him for like a year, but recently for the past 2 months I have been denying it to the point where he gets physical with the environment (throws chairs, hits walls, kicks trash cans, begs, cries) and I'll cave sometimes. I tell myself "if I deny it long enough, he will surely go" but he never does. What do you guys recommend?

I personally get it because when I did online school, I developed a fear of any human interaction and I've been off and on anxiety meds for a while.

Obviously, my method is not working. I just want him to be able to do it himself, so I don't have to do it for him for the rest of his life which is a fear of mine. 

Negatives the fear has bleed into my life: Constantly have to switch seats if driving in a car, leave class or library to go help him, negative emotion the event leaves me, constantly searching for help to change it, fear from the yelling that he does, knocking at my door begging me to go get him food even if I'm sleeping.

I feel like an asshole but I have good intentions at the end of the day because I truly believe if I get past the yelling and breaking stuff he will do it and I think he will get over the fear if he does it a few times, but it just never happens. Parents have set him up for therapy once but he didn't go, made another one and its this week.

What are your thoughts? We live together and it's just creating a negative relationship and I'm just tired.