Here's a simple but ultimately very self-liberating action to take if you wish to reduce the amount of stress and anxiety that you feel in the company of others, friends, or family:
Choose to be more interested in quietly discovering the truth of yourself than you are in trying to prove yourself as being somehow special or otherwise infallible.
Within each of us dwells a certain lower level of "self" whose chief feature is to ensure that no one ever doubts its perfection. Whenever we identify with this unconscious nature, we embody its fear -- a condition that only proves, by the way, its imperfection.
Besides, who wants to protect what is inherently blind to itself even as it insists upon its 20/20 vision?
It's always the right time to discover something new and true about your own nature, even if, in that moment, what you've uncovered seems altogether wrong.