I feel you on this, I've been in similar situations at various jobs. Or just communicating with my coworkers. I tend to mke a little joke about it, and break the ice while telling someone "Hey, I stutter" if it's a new person or someone that I don't work with regularly. If they're receptive to that, then I usually can gauge that we're gonna be cool moving forward. Don't feel lesser about it. Most people probably have not encountered someone with a stutter or speech impediment in real life.