+1 to worrying less about what other people think of you. Ironically, this caring less can actually make people like you more (because you seem more confident).
Basically I learned I'm not so bad, and I'm not a great man either. I'm good enough. I don't hurt other people.
I like myself, and when you genuinely like yourself then other people's opinions aren't quite as important. Nearly everyone responds positively when you aren't seeking other's approval (but are still kind).
I suspect this comes with age for a lot of people. Didn't happen for me until my 30s. Losing weight and getting into shape was a huge catalyst, I highly recommend it.