We go to Mexico at least two times a year.I'd say I'm intermediate in Spanish. I even created a spanish learning site that I need to pick back up. I got sidetracked by going to get my MBA. I also lived in Spain for a bit. Spanish in Spain is different like British English is different to us. It was a dope experience tho.
Getting over that fear is the biggest key in my opinion. It's why adults have a harder time learning languages. We're too perceptive and scared of looking like idiots.
I'd recommend going abroad (if you can afford it) for anyone looking to learn another language. Being forced to speak it does wonders for you. The best way to learn another language is to date someone who mainly speaks that language. A slept on way to learn a language is to play a sport where everyone else speaks the language. Sports require you to react quickly so you don't have much time to worry about what you're saying. Also, it forces you to communicate. I was in Madrid hooping on the spaniards trying to yell at them to set picks and get rebounds.Good times.
I am getting better but it just takes time