I'm not sure how much help I can be, but I would like to offer some encouragement by saying you are probably going to be your worst critic. All you can do is your best. Your first video simply won't be as good as your tenth due to lack of experience. Jontron and MatPat are definitely great Youtubers to look up to, but they have been practicing and performing on YouTube for YEARS. MatPat even went to school for theatrics and directing before doing Game Theory. Without practice practice practice and dedication it would be extremely hard to reach their level. But also, you are you and not them. It sounds like you have a vision you are looking forward to working towards.
I can understand the frustration with equipment. I have been lucky and started YouTube with a group of people so we have split all costs of equipment. This microphone is currently on sale and has very good quality:
but I am unsure what your budget is. Technically all you need to work on YouTube is a camera and a computer. I think asking friends is a good idea, and maybe if you aren't comfortable with them viewing your work, ask them not to look over your shoulder? It can be frustrating and nerve-wracking to have people hovering- I agree.
Anyway, I hope this has been at least a little help. It sounds like you need a confidence boost and some practice- especially because it seems like you have a direction you want your channel to go! Good luck to you