How do I feel comfortable/safe going outside by myself after being so used to have parent(s) be with me outside most of my life?

This is a kinda embrassing question to ask so pls don't judge.

I did have moments where I like... went to the local library alone, or like an all day school trip or something...

But I never really like... explored outside alone... especially far from home...

So like... I feel scared about the idea of like... just going for a walk all by myself...

I realize I've always just asked parents to drive me somewhere so I never got a chance to just get in the habit of being by myself.

I don't have a driver's license so I don't really have like a car to "retreat to", if you know what I mean, like as in sort of "castle".

How do I even "feel safe" just being outside on my own? For context I'm non-white so it's... kinda intimidating... especially in the current context of US political atmosphere.