I seem to be alright when I'm in a midst of strangers and blending in. Plus, I want to travel SO much that it helped me work through the big challenges.
Also, usually I'm the one giving directions

Honestly, every country I've been to except Turkey (where I am a distinct contrast in appearance) I've been asked for directions. So, I manage to always look like a local which I find good. I'm good with directions and haven't really ever had to ask. And, I had already worked on being able to go out to eat on my own. And I shop in the grocery stores too so that I don't have to do that as often.
I've never had to complain. Oh, once, because the hostel I stayed in had bedbugs and I got bit! (And am apparently allergic to them as I had a big reaction!)
I guess the fact that I've always wanted to travel helped me overcome things. But also... I have the hardest time when I feel like I'm the focus of attention. When I'm travelling, I'm not!