Okay, so if you are telling the full truth here this is manageable. But you NEED to get spending under control to get out of this hole. Getting on a strict budget and monitoring all non-essential spending should be step 1. Call the IRS and get on a payment plan for that $20k. Then prioritize all debts in order of highest interest rate. You can do this, and likely relatively quickly, but you need to get a handle on your finances.

There's no way you should be in this situation with your salary. Get a handle on things and get out of this, you can do it.