How can a person become very independent?

[Never_give_up]

I am old but for various reasons I am dependent on other people. Some of this reasons are that I have asperger and that I had psychological problems that made me not able to become independent.

I want to change that.

I study japanese on the internet to go to Japan in some years and I also learn art with a teacher. 

But I am so scared of becoming independent, I don't think I can do it but I also I prefer to risk it all to do it than be dependent all my life and also what happens when the people I am dependent to, leave this world?

So... how do I become independent. How do I become social and not shy and outgoing (important skills), how do i know who to call and how to fix things in life in daily activities and in my house, how do I know how to navigate life ? I am so confused and scared.

I know it's shameful, humiliating and embarassing that I am dependent at old age but this is my situation and hiding it won't do me any good. Please don't shame me, I am already in deep shaming myself. 

The plan is 1)study japan 2)take Visa to japan for studying at university 3)getting Visa to work after finishing university.

I won't stay in my country forever, I don't change that desicion.

So...

How to make it? How a person with difficulties becomes independent? How to be able to be an adult if you find it difficult cause of personal issues? Thanks in advance. I really want to do this, I am so scared but also will try very very hard to make it, cause I want it really badly.