Hi! I have a good news for you. There is something called neuroplasticity. In layman's terms, whatever you do, study, practice and practice more becomes a habit in our brain. Our brain is a habit machine and as you read, hear and speak more (english), your brain is learning and turning into a habit by building a new neural network. That is the most fascinating thing about our human brain. Also, you said you have fear and want to overcome it. Fear is just an emotional reaction due to how you perceive reality. You have a choice, the opposite of Fear is Freedom. Choose Freedom and pick the evidence of brain science that says the brain is neuroplastic by nature. So now, you have this door open to learn and practice more English and get good at speaking. In simple words, if you have an interest & desire to speak good flawless english, science says you can do it. No room for bad excuse now. Start learning and practicing good speaking skills from today. There are more than 100s and 1000s of non-native english speakers who can speak it very well (sometimes better than native speakers), therefore, you can do it too. You have to depend on your own efforts for this.
Do your best. No pain, no gain. Without smart work and hard work, it won't come to you. And yes, please reject fear and choose Freedom.