Yes. I have a general anxiety that has followed me throughout my life. It typically grows when I'm in a new situation or don't know how people will respond. The only way through it is to do it anyways. If you don't push code, don't speak up, don't ask questions, then those are opportunities for value that are lost. Once you start doing those things, you will see that even if you make mistakes or fumble things, people won't think too critically of those and won't remember the mistakes. In fact, a lot of specific things you do won't be thought of much at all by the people around you as long as you're doing what you're supposed to.
Think about the people in your life that you've known. Not even people that you were necessarily close with. Like your classmates, coworkers, and whoever else that you would see around. Did they ever make mistakes? Chances are that you won't be able to recall. And if you can, you probably don't think that it's really a big deal now.
So just do it. The anxiety that you experience will quickly fade while the benefits you gain will last for much longer.