It seems that you have a decent IQ. Additionally you seem to be conscious and can avoid procrastination which is a very, very valuable characteristic.
On the other hand you have issues with self esteem. As far as I understand IQ testing gets used by real psychologists in cases like this.
Taking David Burns CBT book, "The Feeling Good Handbook" and doing the exercises every day for 15 minutes would likely do a lot for you, especially if you can get yourself to do the exercises regularly.
I also support Nancy's suggestion of Feldenkrais.
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I personally am a fan of talking therapy. If you are thinking something is worth asking a therapist about, it is worth asking a therapist about. But beyond the generalities, thinking you are not good enough is absolutely right in the targets of the kinds of things it can be helpful to discuss with a therapist.
Consider the propositions: 1) everyone is more competent than you at everything and 2) you can carry on a coherent conversation on lesswrong I am pretty sure that these are mutually exclusive propositions. I'm pretty sure just from reading some of your comments that you are more competent than plenty of other people at a reasonable range of intellectual pursuits.
Anything you can talk to a therapist about you can talk to your friends about. Do they think you are less competent than everybody else? They might point out to you in a discussion some fairly obvious evidence for or against this proposition that you are overlooking.
I asked my friends around. Most were unable to point out a single thing I am good at, except speaking English very well for a foreign language, and having a good willpower. One said "hmmm, maybe math?" (as it turned out, he was fast-talked by the math babble that was auraing around me for some time after having read Godel, Escher, Bach), and several pointed out that I am handsome (while a nice perk, I don't what that to be my defining proficiency).