I know what you mean, I felt that anticipation and hesitation very much in my stuttering pattern. It's definitely possible to change it, nowadays I stutter without effort and I don't see them coming, they just happen and come out spontaneously (like how I stuttered as a kid). The blocks are you trying to control the way the stutter comes out. It's not your job to control how the stutter moves through your body. I learned this in ARTS therapy, you can find videos about it on the YouTube channel 'Open Stutter'. Especially the one on struggle is nice to see