I’m becoming “that guy” at work. I’m lost and confused all the time. How can I fix this?

I’m only 22 but ever since I was young I’ve thought I’ve had some kind of attention disorder. And then more recently a psychologist said I have anxiety. But other than that I’m uneducated on why I might be like this. I’ve been through things like boot camp and in a place like that I was able to fly under the radar because I wasn’t the worst. But now I work a hands on blue collar job, a small crew. It’s more evident when I screw up or am lost, which is very often. I’m aware enough to know I’m definitely at the bottom here, but how can I help myself? I don’t think I’m regularly dumb if that makes sense. Its like I get nervous and forget what is going on. I have to learn things by using my hands, messing it up, and then fixing it. Directions are hard to follow, but it feels like a fear of messing up more than anything. I feel like I totally lack common sense. Why? And what can I do to help myself? Thanks!