having courage to ask for help

hi, sorry this is my (21F) first post ever on reddit (i'm a lurker) and if I make a mistake/this post isn't relevant, please let me know (gently). This might be unstructured, my thoughts don't like to be linear and I'm a bit emotional atm. Please ask me to clarify if needed!

So this year got off to a shit start, family troubles, which is unfortunate as it's a big year for me -- big project for uni. From there, things magically snowballed behind my back until it reached a point where things avalanched.

Stumbling across this subreddit has me open to the possibility I may have ADHD (inattentive?), or something else, or both. A good number of things have resonated with me. It's not a perfect alignment of experiences, but I'm not going to professionally self-diagnose myself, so that's okay. I am seeking help, I'm talking to a GP about my symptoms and will be finding a psychologist soon.

A part of my struggles is that I cannot organise myself for my project. It's natural to struggle when transitioning to something, but even now it feels like I'm still lost. I'm clumsy, incredibly forgetful, making mistakes, unfocused, no idea what I'm doing. It's like people expect me to just know things. My self-esteem, which I'd been working on for years, has tanked.

I'm terrified of asking for help, because I'm scared of people thinking badly of me, of being disappointed. They could be the nicest person, and my mind twists them to be so cruel. But after all the mistakes I've made, I've seen them be explicitly, unmistakably annoyed at me. It feels horrible. I can't stop crying. I don't know why I'm holding myself back when all I have to do is ask for help. I need to be open that I don't know what to do. I don't want them to regret me.

I opened up to my supervisor on a bit of my troubles, and they responded well and urged me to seek help. But now I'm afraid they've regretted taking on a burdensome person. Can anyone relate?

TL;DR How do you find the courage to ask for help, even if it might confirm your worst fears about being a burden?