It is more comfortable to talk with people side by side than face to face. I have had lots of good conversations with people while carpooling or walking somewhere together.

My oldest son has output difficulties. Walking together while he does most of the talking has helped him enormously.

Most of the time, I enjoy listening to my son. If you can similarly find someone in your life who enjoys listening to you and doesn't mind acting as a sounding board, just having the time to practice can really help you hone this skill.