I noticed that I stutter like mad around my family and friends I’ve known for longer.

I noticed that I stutter like mad around my family and friends I’ve known for longer. I started stuttering roughly when I was 17, and it’s gotten worse over the few years. I was always a fast talker around my family and friends, but I didn’t stutter until that age. I don’t stutter around colleagues or people I don’t know very well. But I do stutter horrendously around my family and my two friends I’ve known since we were 13. It’s embarrassing. I slur my words and stammer often with them. The other day I was trying to ask my cousin if she saw me accidentally use the wrong end of chopsticks, and it went out like, “D-d-did you see my wuwjdbdjdchopsticks wrong?” I went out with one of my long-time friends, and once we got in the car, I was just stammering at rapid fire; I couldn’t even understand what I was trying to say. It’s turned into this thing where one of my cousins points out my stutter, especially my “whwhwhwh” one; I’m really insecure about it - I end up sounding like a Rick and Morty character. I love Morty but I don’t want to sound like him lol… Do any of you guys have your stutters worsen around family members and closer friends? Is there a possible reason for this? How do you guys try to prevent this?