From personal experience, I find that I have two usual responses to initiating contact. I either am about to do it, and then shrink away when I doubt myself and try to consider my “worthiness” or closeness to the person in successfully communicating with them, or I kinda rush in with no plan and then feel awkward and embarrassed afterward.

I definitely think this is tied to Fi. I know myself that when I want to approach someone or (re-)start a conversation, I often try to “read” whether or not I have the right standing with the person to do so. Sometimes I think I’m too harsh with myself in this area, but I find being completely natural in social situations is very hard and kinda confusing.