At 54, you are going to start over.
The first thing to do is to start the process of disposing of the house. It does not matter what you sell it for in that range, you are going to do a short sale. Contact a few short sale agents that have listed and closed a lot of short sales in your area to see what you will have to do to get rid of this albatross. Once the house is settled, you are going to find yourself an extremely cheap living situation - studio apartment, room in a house, whatever it takes to minimize your housing expense.
Second, at $91k, you are grossing $7,583 a month, but netting $4,610. With your current housing situation, this makes no sense. Where are the $2,900 in payroll deductions going every month? Can some of these be adjusted or eliminated?
Third, you say you lost your husband. This change in your life needs more explanation. Did he pass away, or was there a divorce? What financial problems accrued because of this change? If he died, was there no insurance?
Fourth, before you get rid of the car, what do you use it for? Are you driving a 50 mile round trip commute and taking clients out, or do you only drive it to the grocery store on weekends? Do you owe money on it?
Fifth, if you list the monthly expenses that comprise the $1,820, you will get a lot of suggestions on how to cut those. Do you have a budget?
Sixth, more detail is needed on the student loans. If I understand you correctly, you are currently not paying the $1,958, but will have to start soon. Is that correct? Are these your loans or are they loans for your children? If they are your children's loans, can the children help pay them? What are the balances?
If you are willing, put this information together and post it. The folks that participate in this forum will give you a lot of suggestions to help you clean this mess up anf move forward with your life.