I'm quite a shy person in real life, but over the past year I've managed to break into making videos and not feel quite so worried about shooting them and then putting the content out there, and here are some things I've noticed in that time:
1. Practice make perfect. When you look back on your first videos, you probably won't like them, but they'll be an indication of how far you've come. But you won't get to that better point without going through a phase of making crappier videos, which is also fine.
2. People aren't always mean - but even if they are, your value doesn't come from other people's opinions. The tone of someone's comment will definitely be more reflective of their character than your actual work/value, so I would always bear that in mind when reading feedback. if someone is a troll, you can remove their comment and/or shadow ban them on YouTube - your comment section is yours to do with what you will.
3. Just do it! Because the more videos you have, the more practice you'll get and the easier it will become to shake off those thoughts, because you will have the experience, and you will see what type of comments you get, and if they are positive then you don't have to worry so much about how you will be perceived, and if you do get a troll (which will happen sooner or later), then you'll be able to learn how to deal with nastier people and not let it affect you - and then keep doing you.
After all, a troll may comment once and won't bother coming back - if they do, it is likely they think you are doing well and they want to bring you down - and that I'd take as a compliment.
4. You don't owe anyone anything. For most of us, YouTube starts off as a hobby and we're not paid for it, so even if someone comments something nasty, it's not like they paid for a service and got something bad, they consumed something for free so they should not expect creators to owe them anything.