I used to be like this, but as I've grown older it doesn't bother me as much. Most people I've come across aren't dicks about it and will genuinely try to be helpful, and if they're rude I make it clear I have a speaking disability and they're assholes for doing that. It usually gets an apology pretty quickly, sometimes a free meal too. The best advice I can give is to care less what others think. It's hard to do but it's very rewarding.