So my family has a dog, and I don't live with them for year

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So my family has a dog, and I don't live with them for year now. I was the only one who walked the dog when it was young, but a few months after we got her, I had to move away for university. I never visited home for 5 years, and so didn't get to see her for so long...
A few days ago I came home for a week, and she was so overjoyed to see me, I didn't think she'd even remember me, she was young when I left...
I play with her in the yard, and she is bursting with energy, she just wants to play.
We play tug of war, she fetches the ball for me, and then I decide I'd like to take her out to the park, where she'd have more space, because the yard is small.

And then when I open the gate, she doesn't want to go out... It's like she's scared, like she thinks I'm forcing her and that something bad is going to happen. So I don't know what to do, I want to take her out to the park, it's a beautiful evening, and she can't go. Then they tell me they never walked her since I left and she never left the small yard they live in. She is so loving, and just wants to play and have experiences, and instead they only keep her closed in the yard, with barely anyone ever noticing her, and she's always overjoyed when she sees us, so full of love...

We ruined her life, she can never feel real joy, never know, I don't even know what to do.

I am already struggling with major depression, and this just put me over the edge, I am honestly thinking of ending it all for me, because I can't cope with this, I don't know what to do...

I can't teach her to walk again, I'm only here for 5 more days... I'd love to, I'm considering just dropping everything and stay with her here, for the rest of her life, and then just ending mine, because this is unfair. She gives unconditional love, despite everyone completely neglecting her for 5 years, except for periodically giving her food.

We don't fucking deserve dogs, we don't fucking deserve to live. I am crying for an entire hour, idk what to do...