Hey man. I had the same problem up until recently. Let me tell you what helped me.
First off, the anxiety of trying to plan around this nervousness sucks, especially when your channel is seeing results. You need to know that what you are doing (making YouTube videos) is pretty cool in most people's eyes. In the end, the opinion of the people that are watching your videos are what matters most. If someone is giving you a hard time or just laughing at you when you are making videos, it is usually because of their own nervousness and how awkward it is (like when you first started talking to your camera)
If you havent already, let your family and roommate know that you're kinda getting into it now and you'll be doing videos with them around.
I hated even editing my videos when family is around. The wife and kids love to give me a hard time when they hear me playing the same clip over and over where I'm trying to get something just right. They like yo laugh when I mess up, say stupid stuff, get frustrated and end the clip, and repeat myself 5 times trying to get it right.
In the end, I realized that they're really only laughing because it is like watching a live blooper reel. It's funny.
Then I had fun with it.
"Oh, you wanna mess with me while I'm recording?"
*proceed to chase the wife with the camera*
She runs off.
The results? I put it in the video and my viewers enjoyed that little wholesome glimpse into my life.
I started doing some live streams. One of the kids came in and just wanted to be on the stream.
So now it is becoming more of a regular thing to them and it is helping my content.
Just get past it. Do your thing and let people know that this is a passion you have.
Hope this helps!