I've never been particularly shy, but I have been socially awkward, all my life.

It has gotten drastically better, but still leaks out a bit, here and there (I'm a bit "on the spectrum," so social awkwardness is de rigueur for me).

A lot of it has been age. As I have gotten older, what others think of me, has played a rapidly decreasing role in my life.

Also, I have participated in an unusual organization for my entire adult life, that has helped me to deal with my social issues. It is not something that I'm willing to discuss in public (yes, it's one of those organizations), but that's what helped me.