The fact that you recognise the barriers in your life that have manifested as a result of your fears makes you more aware than most in my opinion. All you need now is courage, which I think is the most valuable asset a human can have, and the cure for many of the problems we are afflicted by in the modern age. You don't need to leap out of your comfort zone entirely if that's too terrifying. Just step out of it a little as often as you can, permitting it to expand a little each time you do.