my stutter makes me incredibly nervous speaking to people and I just want it to stop.

my stutter makes me incredibly nervous speaking to people and I just want it to stop. i'm tearing myself up about this. i'm 16 and i've been stuttering for as long as i can remember. i think it's getting progressively worse (or maybe i'm just getting more and more sick of it?) as i get older. it makes me nervous to order food, talk in front of people, talk to my parents, and pretty much any other communication. i never do it when i'm alone, and when it happens it's like i physically just cannot get the word out. i think a lot of people don't even know i have a stutter but when it comes out it's so embarrassing. is it too late to grow out of this? do any of you guys have tips to help control it? i'm desperate here. feeling hopeless. thanks