Most of us have had it all our lives. I'm not saying it's something you can do overnight, but if you adopt the right attitude about it, eventually you 100% can find yourself in positions where you begin putting yourself out there regardless of your stutter. My point is really that this isn't a stuttering thing. Even fluent people can be avoidant and anxious and isolated. Separate it from your speech issues, because you're never going to be able to get rid of your stutter. Attaching your avoidance to that only serves to make you feel helpless and hopeless and unaccountable. But it's not. Your behavior and choices are things you have control over.