If a lot of your speaking fears are centered around certain people who you see in your everyday life, then talking to others in different unfamiliar situations is the way to go.
Why is this?
Well talking with those who don’t know you allows you to build your confidence without fear of judgement. The person you are talking with doesn’t know you. You can speak more freely and with less tension.
If you need to, take out one afternoon at the weekend and drive to your neighbouring city centre. Once you’re there walk up to people and start conversations. You could ask for directions to places, talk about the weather or anything you want.
Increase your confidence this way and then apply it to your everyday situations.