how to stop being awkward?

I genuinely don’t know how to act around people, even people i love and feel comfortable with and i’m sure they won’t judge me. I can’t find topics to speak about (even if we had alot in common) and even if i did i can’t word the sentences correctly, and if i did i stutter and say it wrongly.
I especially hate when ppl make small talk with me or joke with me and idk how to reply, but ig that’s a bit normal.
Although i LOVEEE hanging out with people and going out, but when i do idk what to do or how to socialize.