Problems with reading Quraan

Assalam o alaikum,Respected Mufti Sahab, I read 1 ruku of Quran daily. The problem is that I have not been to madarasah, so the pronounciation of the words of the quran does not come out correctly as how a qari or an alim of imam receites. But I have managed to correct some of the words. But still I cannot recite it with its exact makhraj and aslo some times get baffled that which words will come out from the throat, which will come out from the upper tounge. How will I pronounce small kaf and big kaf. How will I pronounce ze and zal as both seems to me same pronounciation then why the difference. How to differentiate between (to) and (te). So all these are bothering me. Also I do not have so much time to go to a qari or Imam to attend class and learn. Also I feel ashamed that I am over 30 yrs of age and if I go to study at madrasah where small children also study I will feel embarrased.
The other problem is that I cannot read it fluently and quickly. I get stuck at mostly each and every word and have to recite slowly word by word which takes very long. I want to read it rapidly like how hafiz and other people who are not hafiz also reads it fluently. What to do for increasing the speed and also read it correctly. Please suggest.