I’m Struggling With My Communication Skills

Ever since I can remember i have always had trouble speaking clearly and concisely especially when i was younger where i could barely speak a few sentences or explain something without messing up, stuttering or my mind going blank. I still have this problem now and even when I think about what I want to say and speak in a steady pace I still end up messing up. Its especially hard when I am trying to explain something like a story where i will stutter a lot, mess up while speaking or have my mind go blank even though I know the story or subject in full detail. Its gotten to the point where I cant say certain phrases without messing up such as "you know" where when i start off a sentence with that i stutter those two words multiple times before i can actually say it properly. I even had a situation where I hadn't seen a friend in a long time and i couldnt even say "how have you been" without stuttering. its so frustrating because i think about what i want to say and even speak in a steady pace and still end up messing up and everyone around me even people that are shyer than me can speak clearly and I can't for some reason no matter how hard I try. Please let me know your thoughts because I dont know what to do at this point. I dont know if this could be something like a speech disorder or just how I was raised because i grew up in a very strict household where I wasn't given much social interaction as a kid.

I’ve had a couple of instances where people have pointed out how bad I am at talking. I’ve had one guy I know tell me I don’t make sense when I talk and another guy threaten to harm me because of how bad I was at speaking (at first he was nice but after he got annoyed at me not being able to speak and hold a conversation)

It’s gotten to a point that I don’t like speaking to people on the phone because I always end up messing up so I barely call anyone besides my close friends and family. Please let me know what I can do because I see everyone around me and they can speak clearly without messing up even people that are shy and introverted.