There are people who have been where you are who have made changes to their speech to the level where they were able to communicate and make friends and all that. It's not impossible. But it doesn't seem like you're going to figure it out on your own (because it's very hard, even if you know exactly what to do) so I would recommend you seek out good help until you find it because it is worth it. It can be hard to find a good therapist though.