I think taking small steps really works here. Also practice is key. Don't look at where you are now and where you want to be, this is bound to make you sad. Instead look at the small improvements you make everyday. You first start with reading or making videos of yourself speaking. This will help a bit. Then when you are confident enough start talking with your parents for extended periods of time. Then after some time, when you think you have gained enough social skills for talking, start talking on the phone to someone other than your parents, like a friend or relative. You can also use the stutter discord server to talk to some other stutterers. Then I think you should try to venture outside the confines of your home and try small talk with strangers or just going to a shop and asking for help, etc. Again don't see the mountain, focus in each small step. I myself am on the "talking a little bit on the phone" step. It is going to take some time, but if you keep improving your stutter as well as your social skills a little bit every day u will definitely see urself on the peak of the mountain u wish to climb.