I remember it took my three hours to get out the house once.
DT1 filled her nappy just as I put them both in the pram
DT2 filled his nappy as soon as his sister was changed.
DT1 vomited her feed all over the pram just as DT2 was ready.
DT2 then vomited his feed all over the pram.
Then the postman called with a delivery.
Then both babies started crying as it was by now time for their next feed.
And then filled their nappies again. 
It’s funny now but it wasn’t at the time. It felt like just an achievement getting out the door.
I also once turned up late to a mother and baby group and due to painting or something the class was in an upstairs room that week. I struggled up the stairs with a baby on each hip and my huge change bag to discover they’d shut the door. I obviously had no hands free to open it so ended up knocking with my head.
Again funny in retrospect. 
When they were toddlers they had simultaneous melt down in the supermarket and I had to abandon the trolley and walk through the entire store with a screaming, flip flopping child under each arm.
Not sure I find that one funny yet. Give me another ten years! 
I have a million stories like that and all (Twin) mums are the same.
The point to this is that yes, sometimes it will go very, very wrong. But that’s ok. You’ll deal with it and carry on.
My twins are now 10 years old and they’re awesome. Well behaved, polite, charming and funny.
People say “you’re so lucky, you’re children are so easy”. Which is true now but it’s been a long journey!
For years I was the Mum at the baby group chasing after two children who wouldn’t sit still, who was always late, who was always covered in sick and didn’t have time to do her hair. No one remembers that now. They only remember their own journey and their own bad days.
Be brave, go out. If it goes wrong, try again another day. Getting out every day did wonders for my mental health.