How do I become more well-spoken and how do I practice conciseness?

I 21 F am really bad at expressing what I want to say. I have always been this way, even when I was younger. Especially when I’m asking an open-ended question for some reason. Almost every time I ask someone a long question, they always ask me to repeat myself or they’ll ask me to clarify because the way I phrase my sentences doesn’t always make sense. It’s a problem because sometimes I’m aware that what I say doesn’t make sense and other times I actually think what I say makes sense and I get confused why people don’t understand me.

I also have lots of trouble explaining things to people clearly because I have so many thoughts in my head and there are so many different ways to say things and I can’t choose just one so I try to form it the best way I think I can and it comes out as rambling nonsense sometimes. But strangely, even though im bad at talking, people in the past have told me I’m a “good” teacher/tutor. And not to be disrespectful or anything but I’ve noticed that one of my parents is like this as well, they often phrase their sentences to people in a confusing way. So I don’t know if that makes sense either.

But I feel like the fact that I’m not well-spoken is getting worse. This is partly due to lack of confidence which doesn’t come easy for me and I’ve sadly had a lack of it all my life. It’s also due to anxiety. It’s weird it’s like almost everytime i talk, my mind is aware that people are watching me talk and I unconsciously make it a big deal when I know I don’t have to and I will immediately stop being present and will stutter and I have to figure out what I was trying to say in the first place. I don’t know if that makes sense. I’ve gotten better with managing this anxiety but sometimes I get extremely self aware and I mess up again. so it’s very inconsistent. This is something I’d also like to improve.

But the other reason I personally am this way is because I sadly am naturally mentally slow and I don’t ask the best questions or give the best responses. It’s also why Im shy and don’t talk much to people in general. Please what should I do. People say to just read books but I’ve read all kinds of books, classic books, self help books, fictional, nonfictional all my life (am an avid reader) and like I said, I’ve always been this way. Maybe I need to change the way I read? And I like writing too but I really only write academic papers for school, and I’ve always written wordy sentences on purpose because I wanted to reach the word limit. I listen to podcasts/interviews of well spoken people when I have the time and am just now starting to get into writing/journaling which I realize is therapeutic to me. But other than that I still suck at speaking and I don’t know where to start to practice being concise and well spoken. Sorry this is so long