Jaide,
Yes it can go away, or get to a remission state. I was in a remission state for around 4 yrs, this after being at worst, with no driving and agoraphobia. Stress made it flare back up again, so it is an individual basis. Some can go 20 years in a remissive state, and some can be panic free for life. Bottom life, no it is not a lifelong battle for all.
Trish