Fear is not what you think.
Fear of going for it - fear of publicly being yourself - fear, aka timidity, hesitancy, waffling, avoidance, stage fright, being a wall flower in the scene of life's big dance party - is just a symptom of claustrophobia: the fear of small places.
Your psyche - your true self - the spirit-soul-eternal YOU - is vast beyond measure and wise beyond time. When you feel twinges of low self-esteem, when you mute the impulse to go for love, pursue your bliss, take that creative risk or put yourself "out there" you're feeling the knottedness that results from shoving your expansive truth into the tiny shell of limited identity.
The greater YOU doesn't give a damn what other people think and isn't worried about whether or not you'll fail or succeed - it (you) is here to experience the exhilaration of a purely hedonistic, expressive existence.
When you say yes to the inspiration to go for it, then give in to second thoughts or perceived outside opinion, you lock your expansive nature in a little bitty box and it feels raunchy.
Remember that you are more than this current identity. Remember that you dwell beyond concepts of success and failure. Remember that going for it is something you do simply for the pleasure of crossing illusory boundaries, soaring into the love of all that is possible and bright and discovering (rather than exposing) who you really are.