You can keep on avoiding things for as long as you like but that way you wont get any better. It depends what you want from life. I had a problem going on trains. At first I avoided them, then I started taking very short trips. eg one stop, gradually progressing to longer journeys. Now I can use the train. I COULD have kept avoiding them but if I had I'd still have a problem with them.

If you avoid tackling these things you will continue to get embarrassed and feel crazy in situations that you can not control. Start slow, build it up gradually and it will bet better. It wont be pleasant but it WILL get better. You just have to want to change things.