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If you have not prepared your income tax returns cyour next step should absolutely be to retain a chartered accountant who can do your returns as perfectly as possible.
After that you will need either a chartered accountant or a tax lawyer to try and negotiate a deal with the CRA for you. The hope is that they will agree to waive much of the penalties and interest.
They are clearly going to come after you now so if you don't want to lose your house you will have no choice but to address this. Otherwise they will start to seize bank accounts and seize your house and have it sold. They can also garnish counts receivable and wages and they don't need to sue you to do it.
I'm sorry you're in such a difficult situation.