I'm not in the U.K. but I think Rape Crisis can help with specific counselling. You need something specific, not chatting with a counsellor.
There is EMDR which is very effective in treating trauma, especially "single incidents" like a one off rape, even years later. It sounds like you've had other traumatic/very difficult things to deal with since then and it could help with some of those too.
There's also trauma focussed CBT. This is CBT specifically for trauma, not the regular CBT.
In EMDR you don't talk much about what happened - but you do have to picture it in your mind during the session (you learn some techniques first though, that's not the first session).
In trauma CBT there's more talking.
EMDR is pretty intense but works quickly.
Trauma focused CBT is less (slightly - it's different) intense and a bit slower.
But the answer is yes, there is DEFINITELY help. Especially because you know what it is to be loved by your family. That's a big help.
You've not failed anything by the way. You've done amazingly well to deal with this for so long.
Going to be totally honest that whatever therapy helps, it also requires emotional input from you. The therapist can't do it for you, they can accompany you though. But it's definitely doable and this stranger online is promising you that there's a way to feel better.