Yes anxiety is a lifelong condition and cannot be cured.
Treatment through talk therapy can help people ease the anxiety some but when a person has anxiety it's a lifelong condition and cannot fully be cured.
So while you might get better some with your anxiety and not have as severe anxiety as you once did you still will have some form of anxiety for the rest of your life.
I used to suffer from severe anxiety as a kid and teenager and would not talk to most people and I hated being around crowds.
My anxiety got worse when I had to talk to people such as in school and when I had to go into crowds.
But now the anxiety is not as bad as I worked on it myself and now I can talk to some people easily and crowds don't bother me as much.
It still does some but the anxiety has gotten a little better.