Maturity is learning that most people are thinking about you far less than you imagined.

The audience you have been performing for is largely imaginary. People are absorbed in their own concerns and think about you far less and far more briefly than your embarrassment suggests. This is bruising for about ten seconds and freeing afterward.

Do the thing you have been avoiding because of how it might look. Wear it, ask it, try it badly in public. The reaction you have been anticipating mostly does not exist, and finding that out once changes a great deal.