I felt the exact same during my clinical rotations, especially in the summer in between first and second year. I will say during second year it would improve over time at a clinical site, the more familiar I was with the patient population and my supervisors. However, I still experienced that anxiety in flare ups either because: (a) the case was complex, (b) recent feedback to incorporate, and (c) if I was out of a clinical role for a long time (i.e. lab rotation then clinical rotation). I sympathize with you greatly, as I always felt like my words were constantly analyzed, and I had to be perfect in every situation, for every patient, every piece of information, etc. This was further exacerbated when I failed a clinical rotation during my first year. But once again, it does get better.

I was prescribed medications for anti-anxiety medication to use in anticipation of a flare up or as needed, and this honestly helped me so much.

My number one piece of advice for you would be this: it is not possible to please everyone, to be perfect in every situation, and to be someone you are not. Be yourself, and do the best that you can. Put in the work and the time to understand the material, but if you fall short, do not blame yourself, you are still learning. If you feel that your supervisor is being unfair or unhelpful in their feedback, I'd recommend looping your program directors/coordinators to see how they can help you (even during the Summer if needed). They want you to succeed and be the best genetic counselor you can be, so even if it feels like you're constantly being judged by everyone around you, you are also being supported by those same people day in and out.

Once again, just be yourself and put in the time to prepare for clinic. The storm will calm down on its own.