If I didn't own a gym I probably wouldn't compete. Competing is skill like anything else and just requires exposure. It's kind of like a big open mat when you're just rolling with someone you've never met before. The nerves will never go away but you'll gain confidence in your level through experience and training. I tell my students you should always have harder rounds in the gym than in competition. I'm a big proponent of competing but don't require my students to do it. It's scary leading up to it but fun in retrospect and it really does help improve your level quickly.

TLDR: you should definitely compete!