For anyone who struggles to do this, I think it's worth mentioning that you can build coping strategies to help you get through things.
Like--for example. I struggle with verbal communication. I won't get into all the details, but the short version is that I worry that I'll get in trouble for saying the wrong thing, and so that can make it difficult to speak. Unfortunately, though, I still need to be able to communicate with people!
For some things: that simply means exposure. If my main worry is that getting in trouble for saying the wrong thing, then I just need to have enough proof that that won't happen, right? The "ordering your own meal" is actually a good example here; it feels very silly to say that trying to order something at like--a drivethru was terrifying for me, but oh my God did it take a lot to work myself up to doing it. But like--most of the time, drivethru workers aren't going to be actively yelling at or making fun of you, even if you stumble over your words or mess up an order. And eventually, doing that enough times was enough to go, "Okay. This isn't so bad. Even if something goes wrong, it's probably going to be minor." There's still some nerves there, but they're much easier to ignore!
For other things, though, doing them repeatedly...mostly just feels like picking up a burning pot with your bare hands. Yeah, you can do it--but it really sucks, and if it gets easier, that's just because the nerve endings have been burnt off. For these, just forcing yourself to do them doesn't help; you have to find some sort of metaphorical potholder to help. Phone calls fall into this category for me, for some reason; no matter how many calls I make, I can never fully get rid of the anxiety that surrounds making them. Sometimes, I can wait until a day where my anxiety is a little lower; other times, however, I need to make the call now, and so I need something to get me through it. In this case, writing a script for myself helps; this way, I can get my words right ahead of time, and while I may still struggle if we go off script, it's usually enough to at least get me to call.
And then there are times when doing something just--isn't possible, and you have to find workarounds. There are genuinely situations where I'll lose the ability to speak entirely, and there's nothing I can do to force myself to do it. But I can't always just leave when I can't speak! So I've found ways to cope with that. A lot of times, I can get away with just being really expressive. If I really need to use words, I can write things down or use text to speech; usually people are understanding if I explain, "Hey, I lost my voice, so I can't talk normally right now." (...Usually.)
And like--that's just kind of a personal example! You may have to experiment a bit to figure out what works for you and what doesn't. If you have a therapist, it's not a bad idea to talk to them and try to come up with some coping mechanisms. If not, but you have some people you trust, you can try talking to them, too. Or just writing things down to spitball ideas! And if something doesn't work out right the first time, try not to beat yourself up over it; you're learning, and anytime you're learning a new skill, that'll always come with a certain amount of setbacks. It's just a part of the process! Take your time and be kind to yourself, and it'll start to get easier.