If you have the chance then do it, the hardest part is the first step and then life carries you along, i promise you. I've done a few things that shit scared me setting off but every time it's been the best times of my life. You need to get to the point where you just don't give a fuck, which sounds like now. I always needed to have an objective, i don't know like a point to aim for instead of wandering about aimlessly, be it hitching or biking or whatever. It has to become a kind of pilgrimage. I don't know what your situation is, if you're free to just leave. I've done trips to the himalayas and cycling all over europe sleeping in fields and each time it's getting over the fear, man. You will be amazed what you can deal with, how resilient you are. It comes back to the usual shit in the end but you'll have a great time in between, even if it half kills you.