People are afraid their English is not good, that others will think they are stupid, laugh at them, judge them.
The truth is nobody is thinking that hard about you. They are busy.
Try it from the other side
Picture your own day. You are worrying about money, collecting your child from school, turning over a dozen things at once. A foreigner comes up and asks you something in Vietnamese, and their Vietnamese is not very clear.
An hour or two later, are you still thinking about how badly they spoke?
No. You had your own life to get on with.
What matters is opening your mouth
The first time will be clumsy. The second time, less so. Third, fourth, fifth. Keep going to the tenth or fifteenth time and you have said that sentence often enough that it is simply yours, and you can hold an ordinary conversation with it.
Put the timeline in perspective
It takes about eighteen months to two years.
If you are planning to settle abroad or study abroad, you will be living there a long time. Ten years. Twenty. Not a day or two.
So is spending two or three years learning English really a problem?
Learn it, and watch what it does to your life.