I think I only ever found myself overcoming this when I started writing for me and not trying to write "the next great american novel" or write for hypothetical other people. If you are confident about your work, the audience will come, however small. Mind you, I have since given up on the goal of publishing as my goal in life and changed it to "finish a solo work" (see: novel, webnovel, etc.) but doing so has taken a great weight off my shoulders.

The first step is confidence, initiative and self-assurance.