Deep fear of throwing teeps/mid-high kicks.

I’ve noticed that I’m extremely hesitant to throw high kicks, teeps, and middle kicks during matches and sparrings ( LIGHT sparrings dont flame me) . It’s frustrating because I’m tall for my age, and I feel like I’m missing out on a advantage. The hesitation mostly comes from the fact that I’ve hurt my ankle, toes, and shin from hitting elbows high-kicking and teeping. Now I find myself holding back out of fear of getting hurt. I really want to start using my legs more, I just want to improve, any tips?