I’m in my late 50’s now, and it most certainly does get better. As other mentioned, life changes and priorities change, making it so we don’t care as much about what others may or may not think about how we talk. One of the most significant things for me was meeting other people who stutter, and realizing that we’re not alone. I never met anyone else who stuttered when I was a kid and young adult, so it felt terribly isolating and scary. But stepping out of my comfort zone, going to stuttering events and meeting others who stutter made a huge difference in my life, for the better.