I'm Japanese. This is based on my English study experience.
First, English and Japanese are completely different languages, so studying Japanese on and off for two years for you is still very short even for holding a conversation. Don't worry. I can see your experiences in Japan and in your class with your teacher. Just think it's like that, relax, and don't think too much.
I have worked in the US after studying English for about 10 years including school and self-study but in the US, I couldn't even order food at first.
About methods or tricks, I don't think they are difficult although it takes a very long time.
1. Master at least major grammatical rules. You don't need to stick to textbooks. You can pay attention to grammar in any situations; while you are reading Japanese or talking. Then, you'll eventually not think about grammar. For my English, 6-year study in school wasn't enough. I needed more.
2. Experience many situations and learn set phrases for them.
Books, TV, imagination, and etc., anything will do. You can also do this with 1. I wrote down all expressions I had not been able to say in specific situations where I had actually experienced and imagined. I still keep doing this.
I hope this helps.