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"How do I stop worrying about what other people think of me?"
You can't. But you can stop allowing those worries to control you.
People are always going to have opinions about who you are and what you do — you cannot control that. And caring about their opinions means that you're a good person who values their relationships with other people — you wouldn't want to get rid of that.
But you can control what you choose to do.
You can pause and acknowledge the worries that are in your head. You can identify the choice that is most aligned with your values. And then you can make that choice, knowing that you're strong enough to sit with any uncomfortable emotions that come up, and that you can remind yourself that these choices mean that you are living a life that's true to you.