As another member of the club, let me relate something that helped me. When it comes to technical talks, I have no real problem speaking in front of a bunch of people, but for anything else - forget it. I had a story about my Uncle that I wanted to relate during that time at his funeral, just family and friends, and I just couldn't make myself stand up and say it, and there's now at I could stand in front of a crowd and deliver some sort of speech.
Senior year in college, we were all required to take a technical presentation class. I was, naturally, dreading this. However, my professor became downright combative with me, telling me my information was wrong (it wasn't - and even the rest of the class was telling him to shut up so I could finish). From that moment on, at least with a technical sort of thing, I can jump right in and explain things in front of people I just met 5 minutes ago. I'm no longer intimidated. Which is good, because I'm often called upon to explain my designs and defend my choices (computer network designs - despite being an EE by degree I almost immediately slipped into computer consulting). I know it's all a psychological thing, if I can do it for my line of work technical information, I can do it for anything, but that's not how it works inside my head. I'm also not good when the only audience is a camera - you will likely never see a YouTube video from me where I sit there on camera and explain something I've done.
I'm also very self-conscious about talking to a device. Even when I am completely alone and no one is around to overhear me. I feel like an idiot talking to Siri or Cortana. And no way am I allowing Alexa in my home, I would never speak to it. Maybe that's my personal limit on technology and I'm just too old to adapt now (just turned 50).
But, I've made it this far despite being painfully shy. I'd much rather curl up by myself with a book than go to a party. I still have only a small circle of friends, not hundreds or thousands that some people seem to have. Some of them are the same friends I've had since school, such as my best friend whom I met in 7th grade when we found that we had a mutual interest in electronics. Some things have happened over the past couple of years that have had me down, thinking about my age and how much time I might have left and all the things I still want to do, but I don't consider that really abnormal, and I certainly have not had any thoughts of harming myself over it. A long time ago though, I decided that I didn't really care much what others thought, I was just going to be me and if they didn't like it, they could take a hike. I'm certainly not perfect, I have plenty of flaws, but it's when others take your positive assets and try to treat them as faults that you need to walk away. Those sort of people are poison and no one needs that sort of thing in their life.