Why do we have the fear of being judged?

Often times it's easy to let the opinions of others get in the way. Even if you know what you're doing is right, it can feel like it's wrong because of the judgement of other people.

we want people to like us and agree with us and when they don't it upsets us and lowers or self-esteem

If people didn't have any fear of being judged, they would've been rude and acted however they wanted to, whether it be breaking rules or being rude. As an example, why would I have to stand in a line if I didn't care about anyone judging me or people seeing me as someone disrespectful ? As time passes, human pyschology will see no need to be nice if there are no consequences.

I think it's the ego. We want to live up to a certain expectation in society. At the end of the day , I see the different criticisms from others and know that it's okay. The fear of being judge can be stem from childhood abuse where a child don't have the self-esteem by their parents. Not only that, we wouldn't feel that we live up to others' expectations of us. If were judge then we feel that maybe other will gossip negatively about us. Sometimes it's best to accept it as a way to improve ourselves. Good luck!