I don't know what's wrong with me

Lately it's gotten worse and worse I feel like if I don't control it I'll lose everything. I've felt this growing up but never to the extent that it is now. It's hard to explain how I feel but I'll try. I blame it on being shy but it's so much more than that, like I want to meet new people but there's something always holding me back. It's like I'm scared but I don't understand why. I realize that I never look anyone in the eye when I talk to them and I can't really drive by myself. On the days I work I dread it because I have to talk to my coworkers and customers, they're nice people but I'm scared.. Maybe of saying/doing the wrong thing or what if they judge me. The thing is I'm not really insecure but these thoughts hold me back sometimes. It feels like when you're late to class and you know once you open the door they'll all look at you. I can't do simple things anymore, I can't get up and throw away my trash or refill my drink at a party. It's like stage fright, like when you have to stand in front of the class and give a presentation. I'm not sure what to do anymore.. I have friends but it's like I can't make any new ones because I avoid people now. I want to be able to go out alone and make new friends, maybe one day have a serious relationship. They never work out because I'm too "shy". Please tell me I'm not the only one..