Help with giving directions?

I've been struggling lately in regards to giving directions to someone who's driving me somewhere. It's a problem I've always had and it hurts when I make people frustrated and angry with my stupid mistakes.

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It takes me a long time to process my thoughts into words to then speak verbally, so a problem I have is that I often say "turn here" when we're well and truly past the point where the driver can slow down and make the turn. I know that I have to say the direction early to give the person enough time to respond, but I just can't do it, there's too much brain lag.

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Another problem I have is that I forget to filter out certain words that can be confused for directions, such as "turn left *right* here."

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I also do this thing where I say one word and mean another, too, like I sometimes say "turn left at the next set of lights" when I actually mean "turn left at the end of the road," and I'm not always aware of what I'm saying so when the driver follows my (wrong) direction I panic.

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People also get angry if I over-explain things, too. Sometimes I interpret their silence as confusion, or maybe they didn't hear me, so I give the direction again but in more detail, but that's sometimes the wrong thing to do.

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Logically I'm not sure if it's something that I could ever get better with. Maybe I could a script beforehand, but that requires knowing where I'll be going, plus having the time to descretely prepare the words that I'll say. Or maybe training myself to say the right thing by making a slideshow of randomised photos of various roads, roundabouts, intersections, etc. and verbally naming the image in the hopes I'll get faster reaction times?

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I don't know if this directly related to autism, but I have a lot of shame and embarrassment around it, fitting the reoccurring theme of "trying my best but fucking things up instead and I don't know why" so I kinda subconsciously thought it would be related.

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