Steve Harvey touched on this, stuttering is almost more of a mental game than it is an actual speech impediment. I can say my name to myself or to a friend totally fine, but as soon as someone asks “can I have a name for that order” I freeze up. Why? It’s like you said, judgement. Getting over those social anxieties and habits we’ve picked up over the years of having stutters is the most rewarding and beneficial thing we can do.