Thanks for sharing, I can understand where you’re coming from. While i’ve never had dreams of being a YouTuber, I did very briefly start a channel and I had many of the anxieties you mention. I was very self-conscious and it doesn’t help that I don’t like hearing my voice recorded. I also found the technical side of things challenging: thinking about audio, framerate, screen recording etc.
My first video is awful: my audio doesn’t sync up with my webcam video at all, I struggled to cobble together a recording setup that would work with my macbook, and it’s over an hour of me wandering around, not sure what i’m meant to be doing.
That said, I enjoyed myself. I made cute thumbnails and got to play some fun games. I definitely realised that if I was going to do these type of videos 1) I should understand the game and the controls enough not to waste time getting stuck, and 2) I should have made shorter videos, if only for my own benefit during editing. Nobody wants to watch over an hour of my nonsense 
Somehow I managed to get 8 followers and I enjoyed making my videos. I’m not in a rush to try it again, but if I did, I think i’d start a new channel and take a different approach. I’d probably create more prerecorded content, like list videos and reviews, to begin with to get comfortable. Also, I don’t necessarily even need to be on camera, though I think it helps. I’d probably do more of an intro like my favourite YouTubers do.. Nooo, you’ve got me considering it..