@Chealsie508:
I can't even have someone hold his leash while I walk twenty feet away..he cries, panics and pulls.
That is pretty extreme! And something IMO you should work on. Sh*t happens. You need to prepare him for times when you can't "be there" for him. Perhaps ease him into daycare once a week? Would another dog or dogs distract him enough to tolerate your absence?
Other than that, I would think you could work on this with a friend, staying within his comfort level and lots of treats, while gradually increasing the distance and time spent away from him. e.g. if you are using clicker training, click for "quiet" moments, and his reward could be your return, alternating with treats from your helper. If it were me, I would do this in a neutral place, so you don't mess up anything you have achieved at home…..