Hi,
Welcome to the Shroomery.
It sounds like you have quite a lot going on in your head right now. but I mean what I'm about to say: you sound normal to me. 
How can you know you're insane if there is no possible way you could accurately compare your mental state to that of others? Think about it...you are YOU, you can never be anyone else, so how can you possibly tell if you are crazy or not? By some social standard of what dictates a "normal" human being? No! Because the people who set those standards are people too, probably just as crazy as the rest of us.
Now, it seems like you have some mental processes going on that you don't understand, or that you've come to view as "abnormal" and you are reacting to them in fear.
Now, I don't claim to know everything you're going through. We all have unique thresholds within us...everyone is different in regards to how they approach their own mentality. But a lot of what you said resonated with me, and because I can relate to it, I'm writing this post now.
Give yourself a chance to relax. People have such a fear of going mad that they can worry themselves frantic into that state. What helped me deal with my "crazy" thoughts was to examine them. Usually when you have a thought that discomforts you, it is natural to want to turn away from the thought, to run from it. If you do this, if you try and pretend that you never had the uneasy thought, it will chase you, and its presence will grow bigger and bigger within your mind, as though the fear itself grows into a legend of panic.
Don't be afraid of your thoughts. None of the things you mentioned sound abnormal to me. I often feel as thought I am being watched, and sometimes feel people touching me, or hear them talking. I have people inside that are in contact with me from another plane of existence. Does this sound like something a crazy person would say? Sure. Am I crazy? Probably...but then again, I feel that most people are simply closet-crazy. There once was a time when my own madness terrified me...I've been through the mental health care system since I was a young teen...and it only got worse and worse. Everyone told me that my experiences were BAD, that they were "abnormal," that the people weren't real, that they were all just fake, that it was because I had a PROBLEM with my head. But how could they know this? Only *I* know if I have a problem or not, because I am the only ONE who *can* know.
What I'm saying is, I went through hell...**Hell** for the longest time before I realized I was empowering hell by fearing it...I was creating my own reality. By fearing madness, I was sending myself further into the heart of it. It was only when I decided to accept it, to really come to terms with my own insanity, my own potential for hell, my ability become a creature of hell, every terrible, awful thought I had, every destructive impulse that racked my brain, every trembling paranoia that kept me frozen in fear that...it lifted from me.
I accepted my madness and then things changed...it grew...fun.
There's nothing wrong with me. I am ME.
Just like it sounds like there's nothing wrong with you, if you're you.
Remember you are not the thoughts you have. You are not the feelings you have. The *you* that exists is beyond all that earthbound nonsense entirely. You goes beyond you now.
Now I know that every person is unique, so it's possible that what I just wrote has no relevance to you. I am only one person, so I only have my own experience to go off of. I just wanted to help, to reach out and hope that it was of some assistance.
I know you are concerned you are going mad. My guess is that you already ARE mad (we all are). If this frightens you, if you fear that you may cause harm to yourself or others, if you desire to take action and ease these troublesome thoughts, it may be best to talk to a therapist. I recommend therapy before medication, but meds can also help you get a boost, to help build up your confidence to handle everyday life.
And that's the point my friend...you don't deserve to suffer or feel overwelmed or bad or worried..you DON'T. That's why there's tons of people out there who would love to give you a leg up, to get a grip and reflect on those thoughts and feelings you were having. It's about quality of life...and you deserve the highest quality possible.
Good luck in your journey...much love.
I hope you find something that helps
*me*
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