Here's the thing you just don't want to work with:
If you don't feel some good-natured fear every day, you're holding back.
The sense must be, better to be shielded than alive. Friend, this is the ultimate life-killing compromise, and mistake. If you want the experience of complete happiness or aliveness, you have to open to the sensations of complete fear as well as complete joy. Like all passing states, fear only stays long enough to show you what you need to see. Avoiding fear just keeps you in the shielded fear cycle. You know you're not enjoying that. Have you had enough?
So, just get to it. Take a step into the fire. That one, right in front of you.