I hate it when my mom repeats my elementary school speech therapy shit, but 'slow stretchy speech' helps me a lot. I also know which consonants and words trip me up and have over time just learned how to improvise and think about my sentences a little bit ahead of time. I used to answer the phone 'yello' instead hello because the soft H was tough for me. But like a bunch of people said - it's a little bit of everything. Speech therapy, confidence, and letting people know and just not caring about it. Not much else you can do, and once you feel good about it it doesn't have much power over you. I'm mostly fluent but sometimes I still have bad days and I just power through it and keep it moving lol.