I highly recommend doing toastmasters. I also had problems with not being able to read people’s expressions while speaking and then becoming very nervous. It took me only a few speeches at toastmasters to learn that a lot of people have a blank stare or even frown while listening but actually liking the speech. I went from being super nervous and reluctant to speak to not being nervous at all in less than a year.
Toastmasters is a super supportive and safe environment. You just have to give yourself a push to sign up for your first speeches and then it’s actually fun and very rewarding.
I would rate toastmasters as one of the top five things I have done to improve my life.