Is it normal to be so afraid of getting judged?

I'm sure I'm not the only person who hates getting judged or fears it but there's plenty of people who are way better at handling it than I am. I watch people all the time, do their thing, I know they're getting judged but they're doing their thing, they look happy because they don't care. I used to not care when I was younger, but as I grew up, I started caring so much and I hate it. I wanna go back to not giving a f*ck about what anyone thinks of me because I know who I am, i know Im a good person, I know what I wanna do, I'm just perfectly fine. But I've gotten things like fake, two-faced, stuck-up, brat, b*tch, whore, boring, party person, almost all the negative things you can think of, why? I have no freaken idea. I just stand there and get judged the hell out of me. There are plenty of people who are all those things and yet, they look like they're doing fine. It's like why me? They say God gives the hardest battles to the strongest ones so I feel like thats my case yet, it still sucks and feels unfair. It's like people get the wrong perception of me, is it possible they know me more than I know myself? Also, there's so many things I wanna do but I'm afraid I'm gonna be judged this way or that way like I need to stop caring. Another thing they say "they're gonna judge you so you might as well do what you wanna do." So I just want to know how do people do it? how do you learn to not care anymore? I want to be free and happy because I deserve it.