If you truly haven’t had exposure then really all there is to it is doing it and seeing that it’s okay. I wouldn’t want you to route through dangerous neighborhoods or near an ICE facility entrance or anything, but areas you’re familiar with visiting with your parents that aren’t too far away should be easy targets to talk to and get value from the independence traveling on your own affords you. It should be pretty motivating in itself to no longer have to run on other people’s schedules once you experience it.