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Are you familiar with these fears? What did you do to get over it? Probably the answer is just "just get in the field and do it", but it's much more easier said than done.
Think about it this way, Do you regret not showing those vulnerabilities now? After a night out, Do you regret not approaching that set? Based on your original post, my guess would be yes. There's your motivation. Think about the feelings you have now when those fears re-surface.
You won't get over them instantly. It's going to take some time. Get into the field. Start talking to people. You don't have to reveal every secret you have, just show people that they can relate to you and that you're a real person.
Good luck.