How has approaching fears changed your life ?

I feel like one of my main insecurities is caring what others think about me. While I tell myself I don't care, I end up still caring no wonder why I'm not able to take actions. I wanna work on my goals but I have this overthinking negative thoughts flowing like what if I get made fun of or they criticize me. I know people will do it but some just may not physical say it. I don't know.

I wanted to learn driving and there is an instructor that gives driving lessons near my area. In my mind all I keep hearing.. just go ask and get driving lessons. But I just physically can't make myself do it. I'm feeling so insecure to approach and ask for advice. All I keep thinking is what will he think about me. I'm already 27 now, and here I am all scared insecure and shamed. But even I know deep down I need to learn and get this fear conquered.