@itsnotanoption
It is an option. All worry is optional. You’re not required to do it, and if you honestly answer the question, “What has it ever gotten me?” then you’ll have precious little to show as a return for all your worry.
So the first thing to do is realize that it is optional. It’s just an option you don’t seem to want now, yet can’t avoid.
Apparently, what you need is a “worry-avoidance” strategy. Try this.
Make up a list (I’m giving this advice more often now, for some reason) of things that you’d like to do but are worried about people’s reaction to. Evaluate your worry in terms of “most worried” to “least worried”. Then do one of the things that you’re “least worried” about.
Record people’s reactions (since it’s what you seem to be worried about) and then evaluate the effect of their reactions on you. If their worries have a significant reaction on you (and especially if it’s a bad reaction), then your worries may be justified, and not a thing to be jettisoned out of hand. But if their reactions are meaningless noise, and have no reaction, then you’ll start learning to tune them out.
For example, if you’re worried that “People would say or do bad things to me if I walked outside the house naked,” then you’d probably be right. You could be arrested or worse; that’s a “negative reaction” that could hurt you in several ways. But if you’re worried, for example, about “What would people say if I cut my hair real short or dyed it bright green?” then you may find (after you cut it short and dye it green) that the reactions you fear are… just noise. (You may even find that you get a lot of compliments, and that might matter more to you, and help to drown out the other voices.)
Try making the list, and picking one of those actions to challenge your assumptions about how serious “worry about people’s reactions” is. Pick one of the ones that won’t get you hurt or arrested.