Unlikely, but not impossible. That is how I would describe my thinking when not on medication. Worrying about if I ran over someone without realizing it is an exact worry I have had.
Escitalopram has worked well for me. I don't really experience any side effects, but it did take a few months to adjust and feel totally normal. Some sleepiness and a feeling like I could not concentrate fully during that break in period, but both of those subsided.