I was diagnosed with stuttering when I was 5 however I was very lucky to have a parent (my dad) who did stutter to help me get used to it - out of my entire family including brother and sister me and my dad were the only ones to stutter and we have a unique bond because of that. I was sent to speech therapy at a early age and my family were very encouraging and supportive and made feel comfortable when I stuttered. I remember when I was had my Bat Mitzvah I was so nervous that I would stutter (and that was when my stutter was it's most severe) throughout the whole ceremony where I was in front of everyone but my family and friends all cheered me on). I got my stuttering "under control" in my mid-teens however my speech therapist and even my dad said that it will never truly go away - my dad would stutter every now and than - and I still do but on rare occasions. I notice that talk in a different way publicly and at work, etc - I am more conscious of my speech when I'm talking publicly and I think my brain is wired that way from years of speech therapy and I don't stutter (at least I'm not aware of it). But with family, my friends, my boyfriend I am unfiltered and occasionally I would stutter (not as bad when I was a kid - but stutter nonetheless) usually if I'm tired or anxious. I don't feel embarrassed at all and you should either :)