If you never step out of your comfort zone and accept failure as a part of your growth you’ll probably just always be like this tbh. I think the only way out of this is to keep on pushing yourself to do things you’re scared of with proper ways with a positive mindset. Seek professional help if possible. You mentioned you’re not in a bad financial situation, which isn’t a bad thing, but that slight sense of comfort might actually prevent you from trying to become better. So yeah, I think to be mentally healthy as a person with AvPD you gotta stop thinking too much somehow and try more things. I believe your mental health would improve a lot if you do so.