Well it seems to me that you know it's irrational to be worrying about stuff all the time, so that's a good thing. You know deep down that you don't have to worry about everything. Like you say you have to choose between your family and friends sometimes, well maybe you should talk to them and say how you feel? I'm sure if they knew how you felt and how much you were worrying, they would try their best not to put you in a position where you had to choose. But even if you do have to choose, has anything really bad happened? You need to put these decisions into perspective. I don't know what sort of decisions we are talking about, but surely they can't all be matters of life and death?
If you can't sleep then maybe you should try some relaxation techniques, like controlling your breathing, and there's another where you tense up different muscles and then release them while you breath out. Sometimes I try that if I'm stressed and it helps.
Overall, you really need to realise that you don't have to worry about pleasing everyone, cos it just isn't possible!