To grow is to have your comfort zone expanded.
Your comfort zone expands any time you perturb the edges of it by participating in situations that are challenging and at least somewhat unfamiliar.
Sometimes you’ll actively do this on your own; other times life will force it upon you.
Either way, by definition, the experience will be uncomfortable at first.
And then, of course, you learn and adapt.
This doesn't mean you'll never get the nerves again, but your propensity to rise to the occasion in the face of challenges will almost certainly be greater than ever.