These things come to mind at the moment:
https://en.m.wikipedia.org/wiki/Role_reversal How would I judge a situation from another person's perspective? It helped me to understand why others react strange to me.
Learning to really accept myself and to stop judging myself helped me to build some confidence. Which in turn helps to handle (or survive) situations which ask to much from me.
Learning to listen to myself. If I feel, that I don't want to do something, I don't have to. Not now, maybe later, OK?
And of course: Trial and error. It worked fine before. Maybe it can be useful in the future. :)