I'm not necessarily paralyzed by fear, however I do often overthink situations and possible outcomes and that makes me tired so I just give up. It is somewhat similar to your issue as it also leads to inaction. To answer your 2nd question regarding motivation, my solution shares a remedy and that's to just do it. Yeah man, just Nike it up and go into it, often the situation isn't as bad as we think and we can only plan/train so much. We can't predict the future so it's best to dig in and see. It is easier said than done, but oftentimes it's best to just push through it or confront the situation. Now, if things go wrong, it is best to not dwell on it or laugh it off if possible. Setbacks suck but it is not the end unless we say it is. Also, having a hobby can take your mind off it and give you some down time to rest. The trick here is to not let a setback take root in your mind, this is probably the hardest part for sure. You could also start by taking baby steps and gradually take on more challenging tasks as you continue. For example, I don't have the same energy as I used to so I just take a few steps everyday, fix a part of my resume here, contact this person here, get a haircut here, fix this financial problem here, etc. These little things add up to a whole lot and it compels me to do more, builds confidence.
Unfortunately, I don't have anyone in my life that can really help me. I do believe it is beneficial to have someone in your corner even if it is just one person. It is hard to find people who will listen, seems like many people aren't sure how to deal with it.
I hope that helps.