First thing to say is that you have done nothing wrong! You do not have a major problem and it is very easy to re-establish yourself as the alpha here.
If our relationships with our dogs do not have an emotional element to them then we have to question why they exist in the modern world.
To rely on your dog as emotional support during a very difficult time in your life - and let's not forget - the dog's life would be ten thousand times more worrying if it had not happened!
What is exceptional is not the fact you leaned on the dog or the fact that the dog responded to your emotional needs but the fact that you can understand when and where and how the balance of your relationship with the dog changed!
If you know the problems, as you clearly do, you are two thirds of the way to solving them.

There are very simple steps you can take to regain the respect of Taylor. The first thing I would suggest is to use the ignoring method when you enter a room where the dog is, the second is to use the feeding method I use (if you do not know what I am talking about then please say so and I will describe, in detail, the methods I am suggesting).

Please let me know if you are not aware of my methods and I can explain them - things will be fine, don't worry.