This need has much to do with self realization because if we don't try we won't find out who we really are. You need to be a little uncomfortable so you can eventually learn to be yourself.
Those first tentative steps out the door when we are young lead to bigger experiences which test our mettle and make us realize we can indeed fit into society as authentic transgender people who won't back down in fear. This was petrifying at first but as new muscles flexed and learned to operate, I found that, over time, I had become a different person.
Being yourself doesn't hurt anyone else but not being so hurts mostly you.