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Hi, I am an American Board Certified Neurologist and I am very glad to help you with your health concerns.
Escitalopram is a good medication to treat anxiety disorder, but paradoxically in some patients it can worsen the anxiety too. It can also cause unusual muscle twitching, difficulty with sleep etc. You did right thing of stopping this med because it is causing some side effects in you.
You may try one of the OTC (over the counter) meds mentioned below and these could help in getting good sleep and help with sufficiently relaxing too. These meds can also help in controlling the abnormal muscle twitching as well.
Valerian root extract,
There is no need to go to the emergency room now rather you may try one of the above mentioned meds to help in getting relief from your symptoms. And these above meds do not require any prescriptions. If you are looking for a prescription med then Alprazolam or Klonopin can help.
Please let me know if you have any further questions; and if you feel you have received the answer to your question please rate me so that I can receive credit for the time and effort put by me in answering your question.