All the feelings you describe are “normal” and tend to come in waves. Especially on the spiritual path, there are many crises, which are really opportunities to move forward. They occur because your practice opens doors, including the doors of perception. They are meant to serve a purpose. Your sailboat is actually on its way! We all have worries, we all have doubts, we all lack discipline, we all are (at least a bit) lazy; but, we do not all know it, and to the extent we do know it, we do not all make an effort to correct our sail boat’s course. So congratulations to you! And, even if it does not feel comfortable, be relaxed about the tensions… They are supposed to be there.