@Markness - I occasionally attend church, and I will go today because I'm bringing flowers for the sanctuary. The minister for today is a man who nearly died of a brain tumor and has had extensive surgery to remove the tumor, leaving him with some degree of brain damage.
He often struggles to find the right words and stutters, gets confused about names and dates, and recently prayed for a former Senator from my state who died five years ago but the minister thought he is the current Governor. Despite his struggles, no one doubts for a second that he is a good man, trying his best to deliver a sermon, trying to follow the order of worship at our church, trying to remember the name of the pianist, trying to read from the Bible even as he stutters. Here's the thing - no one cares if his diction is not perfect or he forgets things or gets confused or stutters, everyone recognizes his struggles even if they are unaware of his medical past, greatly admires him for his determination and his efforts, are endlessly patient with him and totally respect him for who he is - not for who he might be if he were different.
I'm not sure why I want to tell you about the minister, but I see parallels between his struggles and you. Most people understand and accept that not everyone is perfect. I believe it is the same for you. You worry about stuttering or committing a social mistake far more than people even notice that you're doing it. Keep on going out, to restaurants, to meetups, to whatever event you want, and keep on talking and being involved in life. People respect you for the effort you make and there is no need to feel embarrassed or like a lesser human being just because you're not perfect. You don't have to be perfect.
Yikes! I need to get dressed for church now or I'll be late.