Personally, yes I think I have fully escaped. It's been 16 years since then, and I see my scars as a personal trophy of sorts - a motivator on what I can accomplish if I set my mind to it. It wasn't always like this - but it's what I have conditioned myself to do after the traumas that I have endured related and unrelated to the homelessness.
I hope that you are working to get past any demons that haunt you - you deserve it, everyone does.