Man, I know it's hard. I've always been victim of my own self doubt for all my life. And still I feel like there's something missing in me and my behavior that keeps me alone and depressed.
But I'm totally sure that I'm thousands time better than who I was 10 years ago and that came just from the decision of being a better person, reflecting about myself and learning from my mistakes. Everybody can do it, for real.
Just start. Start somewhere