I feel like I'm too passive, like I hardly ever do anything, I just let things happen to me or I wait for people to tell me to do things, I can't even start a conversation by myself, I'm too scared that any decisions I do make on my own will turn out to be wrong and make people unhappy, but then doing nothing can also make people unhappy, I really wish I could just do what I wanted without those fears or need for permission or approval and without it seeming too out-of-nowhere.

It's gotten the the point where it's starting to ruin my relationships with people I care about because they feel like I never do anything for them without them asking me, but that's mainly because I don't know where to start, I'm not good at starting conversations or making small talk so I wait for them to do it first, I'm also scared of doing it wrong, I'm very sensitive so I try to avoid things that could potentially upset me, but then other things upset me anyway, and it's even worse if other people are involved and I feel like I can't be happy until they are, how can I get better at doing things of my own accord without worrying about making mistakes or just being awkward?

First off, that fact that you realize that you have such flaws and have them somewhat pinpointed is actually great. Most people I meet who are passive or indecisive don't act as though they were aware of those flaws. I've met people who were so passive and easily controlled that they don't even appear to want things, or they block any desires or ambitions. They just let other people drag them everywhere or keep them in the same place even when they're not happy.

So the fact that you already WANT something, or have a goal in mind...that's a great start. You can work with that.

The answer is really just to do it anyway until you become used to it. Basically exposure therapy. Avoidance breeds anxiety. You have to make yourself uncomfortable in order to grow and move on. Hardest part is getting started and trying to put yourself in a position to start doing things. You can try volunteer work, find a new job, find a social group to be a part of, talk to loved ones about what you want to do to let them know you are trying. Sometimes people need help in order to help themselves, though don't get stuck in that mindset. The mindset you want is to be able to do things yourself. You need a sense of independence.

There's a lot I can gather from your post, but I don't know the extent of your problems or where you are in life such as whether you're in school or have a job somewhere. I don't know if you've sought therapy before, that's something that could be really helpful for some people.