I don't think the ability to be 'be open and direct with everyone' is really what cures sa, nor is it necessary. People are different socially, even without SA. It isn't open and overly social - SA.
For the rest:
Change what you don't like and can change. Learn to accept what you can't change.
This includes when you make mistakes and act dumb. People usually forget that very quickly (if they even pick it up in anyway) and ****, even if they don't, then it's not like worrying about it is going to make it any better.
Work on being able to live up to your own values, and if someone disapproves of those values, then that's their problem.
Not everyone has to like you, nor do you have any obligation to approve of their values.
"If you need a safe space, see a therapist" - Jordan Peterson