I can totally relate to your uni struggles, I have experienced the same frustrations and I'm also studying psychology. In my undergraduate course, it annoyed me that everything felt so theoretical, nothing felt directly relevant to the role of a psychologist! Finally a couple of assignments were mock assessments/etc., which helped a little bit. I'm now in my honours year and it still feels similar - sadly for most unis there is no hands on experience until postgrad.
Something that might help you is knowing that for a lot of postgrad psych courses (particularly for masters) you need counselling experience. Gaining training via volunteering with an organisation (like lifeline for example) means you are much more likely to get accepted. This is helpful to know early on so that you can have multiple attempts at applying, but also so that you know taking time off between undergrad/postgrad is the norm, and getting volunteer experience (hands on experience!) will help you further your career. I hope that applying for volunteer positions helps you to feel more motivated- it has helped me. Also, in applying for volunteer positions, remember to take care of your mental health first. Sometimes these experiences can be confronting, and so knowing exactly what it is you'll be doing can help you to decide whether or not it's something you want to take on. Also know that there are often very limited positions within organisations, so don't be disheartened if you don't find one straight away.
I am also really sorry to hear that your experience with anxiety and depression is making this time harder for you, I can't imagine how much more difficult that would be. Remember there is no rush to finish your degree, I barely know anyone who hasn't underloaded at some point- I myself took summer classes to catch up! There is no right way to do uni, whatever works for you is 100% ok and you will find there are so many people doing the exact same thing :)
I also suggest taking time to research areas of psychology you're interested in. I know you probably do a lot of literature searches for your assignments, but taking the time to find new innovative treatments in areas you could contribute to during your postgrad studies can be exciting! I know research sounds boring, but clinical research is very closely linked to clinical practise- thinking about the ways you can positively influence people and the field in general can be inspiring!
I hope this helps in some way :)