It is trendy to be self-confident, that does not mean that the Torah thinks there is something wrong with someone who is not self confident. Rb Matithyahu Salmon says if a child is embarrased to get up on stage we tell them don’t be embarrassed! He says, why not, shalosh midos ba’umah zu, rachmanim bayshanim gomlei chasadim!
The most any therapist will ever tell you at the end of the day is that you have to clarify your relationship with your parents. If you spend the money you would have spent on a therpist patching up your relationship with your parents you will be 6 streets ahead and be mekayem a mitzva in the process.
Most parents are not that crazy that if their child is trying to get along with them then they will slam the door in their face. Even if a person’t parents are deceased it is still possible to be machebd them by finding out what their minhogim were and trying to keep them, learning leiluy nishmas etc.
I am not spurning therapy all together but I think it is better kept for clinical cases (e.g. chemical imbalance etc).