Hi dharma66,
it sounds like you don't really want to give up your rides, you just feel pressured by the environment (heavy traffic).
This thing about riding the uphill road to your house, I would forget it for now. I had a similar bit on my commute, for a few months I just took the pavement. With time comes confidence, now I take the road and actually ride in the middle of it, if they want to pass me they can go in the other lane
I can see the new riders on the block: they take the pavement as I used to, one has to start somehow!
If you find a really scary lorry behind you and you are on the road, stop when it's safe, let it pass.
I still do that sometimes. Never mind what the experienced riders say, one does not read cyclecraft and wake up next morning ready to ride a busy dual carriage way, especially not at our age!
The other thing, about dismounting and crossing on foot with your bike, don't see why drivers should be angry: I do that too, downhill, (rarely now that I know a few ways to go round the crossing) not because I cannot signal and manouvre, but because I don't trust the traffic to stop for me, slow as I am.
You need to find your comfort zone. Good luck!