I "take too long to talk"

I "take too long to talk" So I've been stuttering since I was a child and I never grew out of it. I'm 19 now. My mom used to threathen me as a child that if I didn't stop stuttering I would have to get shots on my tounge. She dropped that after I got my autism diagnosis at 18. I'm currently in speech therapy (have been for about a year), and one of my stratigies is to pause if I feel a stutter. My family has the habit of walking away when I'm talking because they "thought I was done" or I need to "hurry up and say what I'm going to say" What should I do? I just want to work on my skills at home too.