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please let me know some advices on communicating better

I often feel frustated that no matter how many times I repeat or sinplify what I wanted to say, others (even my family) often either misunderstand it or got confused. Most of the times they get annoyed too. And as always, eventually I will stop talking or saying anything at all. I understand all others except myself, and no one seems to understand me...this is so frustating...
I just wanted to be an average person for once and be able to convert everything I feel and my thoughts out, but I just can't...I can't speak well without sluttering, can't hear well, and yet keep overthinking...social media isn't any help either, the servers are always busy in discord that always make me tired, and I don't have any close friends in the real world at all...I don't feel comfortable getting help as I know there is no point anyway, and those online friends are just dumping me with their intense emotions while I comfort them...and sometimes I wanted to be left alone, yet also craving for attention...
I am sorry if this annoys you, but I just really want some advice, and wanted to get this off myself...I am very stressed with studies already.
I just wanted to be an average person for once and be able to convert everything I feel and my thoughts out, but I just can't...I can't speak well without sluttering, can't hear well, and yet keep overthinking...social media isn't any help either, the servers are always busy in discord that always make me tired, and I don't have any close friends in the real world at all...I don't feel comfortable getting help as I know there is no point anyway, and those online friends are just dumping me with their intense emotions while I comfort them...and sometimes I wanted to be left alone, yet also craving for attention...
I am sorry if this annoys you, but I just really want some advice, and wanted to get this off myself...I am very stressed with studies already.
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I also fond communication verbal difficult as well, sometimes because if anxiety, autism sometimes because it my speech.
Will planning in advance help? Rehearsing help? Writing things down help?
I also think that @Invisible_me has some great suggestions! i often write things down before communicating on the phone and i find that really helps with being able to get my points across easier
Yeah, I will try starting to write things down and rehearse so I can talk better. I do have anxiety too, so this will definitely help.
My online friends know my problems, and each time I tried to explain my struggles to people who will be annoyed by me, but it's just that they stand their ground, so I ignored them later.