You learn how to speak in public by... speaking in public.
You learn to bake a cake by making the recipe, over and over.
You learn how to drive, by getting behind the wheel. Again and again.
Sometimes we learn in private, intimate settings, but most of the time we learn in wide-open public places. And in order for the "level-up" to happen we must be comfortable with making the mistakes that lead to growth.
You learn how to live by living.