I do not know what would work for you, but the following worked for me.
Toastmasters - helped me speak clearer, and with constructive, honest feedback.
I write down the points I want to make so I do not wonder aimlessly in my stories.
I repeat my (succinct) point(s) I want to convey before I go down the details, then repeat it again at the end.
When asked, I write the questions down so I do not wonder aimlessly in my stories.
I repeat questions asked before I go down the details, then repeat it again at the end, asking if I answered it.
I ask a lot of questions as it provides me reference points I can verbalize to the listeners.
if I have not had time to prepare for a conversation, it is not unusual for me to close my eyes and speak with eyes closed. This helps me to reduce distraction, and turn inward. I do this only with known people so they are not surprised. They know that I am ruminating to on the words, stringing them together. Works well in phone/conference calls with no video.