How to actually make the switch, because going from a video to a blank mat in one step is what produces standing there doing nothing.
Start with ten minutes, not thirty. Pick five poses you know well and put them in the shape above. Warm, one thing, counter, rest. Ten minutes and it will feel thin, which is fine - you are practising building, not practising yoga.
Keep a written sequence at first. A card or a note on the floor. There is no rule that self-guided means from memory, and the note is what stops the standing there.
Alternate. Video one day, self-guided the next. The video days become research: notice what the teacher does and in what order, and steal it.
Repeat the same short sequence for a fortnight. Familiarity is what frees your attention to notice how you feel, which is the thing you said you wanted. New sequences every day keep you focused on what comes next.
Grow it slowly. Ten minutes becomes fifteen becomes twenty-five over a couple of months.
The thing that surprises people is how quickly the anxiety goes. It is not knowledge you are missing, you have two years of it in your body, it is the experience of choosing, and that takes about three sessions.