How do I learn how to talk?

I like communication, and I like writing a lot, because it gives me time to really think over what I want to say. On the other hand, I absolutely loathe talking to other people, since I feel like my brain shuts off and I'm just spitting out words at a faster speed than I can think, which leads to moments of frustration and me saying things in a poor way.

I can explain myself well, and I can talk to multiple people at once on topics I know a lot about, but I can't for the life of me express...

How do I learn how to talk?

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