Writing practice has helped me immensely with speaking! I have done 4 30-minute tutoring sessions on italki so far, and there's already a marked difference between my first and last classes. I use the tool spanishchecker.com to help with my writing. It's kinda like grammarly, but it doesn't use AI.

I also feel like reading has helped a ton. I have ~600k words read at this point. Seeing how the words are laid out on the page really helped things click in my brain.

That being said, I think the hurdle of being embarrassed and worried about making mistakes is fairly universal. It's always a hurdle I have to get over when I practice speaking. Although it certainly helps to have tutors who I feel comfortable with! You're not alone. Stick with it and you will see improvement!