Will time help my new dog?

I have a 4 1/2 shitzu, terrier, pug mix that I was told has lived her entire life in a large crate with her 3 sibs. They bottle fed them cause mom pup died. Never went outside, dog park, or etc. Only knew family members. Never socialized. I’ve had her 7 days. She gets along with my cat, has learned to use her doggy door, she potties outside, and is getting better going outside without being afraid. Walks scare her! Storms are no problem. I don’t think she’s ever seen cars and etc., she seems fearful and pulls on her leash when something scares her but she still doesn't like it and trembles. Barks when home alone. Hates the crate I have here. So I give her free roam. She does bark while I’m gone (camera in house) She has always been with her sibs and now it's just me and the cat. I have play toys everywhere, she is not treat responsive either. But so sweet! No aggressiveness what so ever! And does not seem to be destructive at all! My question is since these are not “learned behaviors” (I think) and they are due to her never experiencing anything (I hope) at 4 years old will she get used to everything over time? Trixxi blog: https://trixxifoster.blogspot.com/