Yes, you should suck it up and go for a Brazilian. The results are outstanding!
Look, I don't have any gentle words to share with you regarding feeling embarrassed -- I'm the type of woman who would walk around naked if it was socially acceptable.

But seriously, it's like going to a plastic surgeon for a consult on a boob job: they've "seen it all" and don't particularly care what you look like. That's the hurdle YOU have to get over. And you will be SO glad you did.
I especially like a Brazilian because once it's done, it's much easier to maintain the area. (It's sort of like your yardwork: once you've mowed, edged, and weedwhacked, you want to maintain it every so often before it gets overgrown again.)
Once you've been waxed, the wax lady will tell you to gently exfoliate the area every other day or so in order to prevent ingrown hairs. I've never had a problem with ingrowns from waxing.
Go for it - you will feel SO sexy afterwards!