I got a 2 month gig lecturing basic CS after finishing my degree. It was a pretty transformative experience - the first two lectures were among the worst experiences of my life! Panic in front of 200 people. After that it was fine.

Since then volunteered recently to speak at tech meetups, etc. Organizers are usually very happy to find more speakers! Still get the heart rate increase, sweaty palms, etc but apparently it no longer affects my speaking :)