Getting better

Reps and feedback.

Practice deliberately

Speak more often in low-stakes settings: team updates, meetups, local groups. Volume of practice is what moves the needle, and each talk should have one thing you are working on.

Ask two people afterwards what the message was; if they disagree, that is your feedback.
Watch talks you admire and identify the structure rather than the style.

Anxiety that persists

Severe speaking anxiety is common and treatable, and rehearsal alone may not resolve it. Structured approaches and professional support both have good evidence.