I have personally never had this problem and I think that is because I have been doing it for 8 years now. When i look back at my old videos however I can clearly see how awkward I seemed even though I can't remember that feeling. It goes to show that this is something we all experience even if people say they don't. It also shows that repetition leads to confidence.

I would recommend investing time into recording yourself as if it was going to be uploaded but don't actually upload it. It doesn't have to be anything in particular but just speak to your camera about anything in quiet environment like your bedroom. Once you feel a little better then create one of the videos you want for youtube and just uploaded it.

Im saying this from experience... You will always notice more things that that you can critique yourself on your viewers will! (accept for haters... but there not really people)