Yes you do deserve kindness!!! I'm wondering if you feel that somehow your life since getting married and having children is just 'too good to be true' because of all the crap you've had in the past and that you somehow don't 'deserve' it. Sometimes, having things go 'right' can make you depressed if that makes sense ... you're sort of waiting for it all to go wrong, wondering how your husband can love you so much etc? I'm only suggesting this as I've sometimes felt it myself.
I too was raped whilst in Falaraki, Greece over 20 years ago (I was only 19) and, funnily enough, I never considered it as 'rape' either until many years later. I felt I deserved it as I was a drunken mess (I'd been on the tequila slammers). I woke up to find a Greek man on top of me having sex. He'd climbed through the open window of my apartment after following me home and seeing an opportunity. When I woke, I screamed and managed to push him off. He stole my camera and jumped back out of the window. The next day, I stunk of tequila, felt horrible between my legs and felt like a silly, dirty tramp. Now, I realise that even if I'd walked the streets naked, I didn't deserve that. Like you didn't deserve what happened when you got in that car.
Also, you mention that you are adopted which, in itself, I can imagine raises all sorts of emotions. It sounds to me like you've put a lot of pressure on yourself to be a perfect mother due to not having your own biological mother and, in reality, that's impossible to achieve (I don't know any perfect mothers!) so you're constantly knocking yourself for it and feeling like you're failing.
I think you'll definitely benefit from counselling (get a real professional unlike an amateur like me!) and I hope you'll keep us all posted about how you get on at the doctors. xx