Anyone ever conquer social anxiety?

I figured out why I decline dates or chances to meet anyone new or even reunite with old friends from years ago. I'm panicked that I'm not enough, and that if I get nervous in front of them, I'll be severely judged and soon rejected. Or that I'll feel so panicked I'll have to leave 😞
I am working constantly on how to not fear judgement but when you've felt subhuman for a decade, it's REALLY hard to not fear it. Any tips or similar experiences?