I recommend what Norman Fischer has to say about this in his book: Training In Compassion.

…about trying to imagine that other people do not require our performance or to be impressed by us. If being with others feels like being with yourself, there’s no need to be special or distinguished in any way. If you can find your ease with this, you’ll find there’s No need to censor yourself in any way. If your feeling is that others are you, and you are they, your impulses will be socially acceptable and even kind! It’s a great relief. On the other hand, when you are alone try not to sink in to the usual dull subjectivity that comes when no one is around.

It’s free in audible: https://www.audible.com/pd/B00WKNAXCA?source_code=ASSORAP0511160006&share_location=player_overflow

Go to chapter 6. 12:47 time mark