Is it permissible to pray at home to avoid people's gazes and their hurting the person who desires to repent and become regular in prayer?

Envy (Hasad) is real, but fearing it does not prevent one from doing what Allah has legislated. The way to protect oneself from it is through established ruqyahs (incantations) and ta'awidh (supplications for protection), and by continuously expressing gratitude. You must live your life normally, interact with people, and abandon the pathological fear of envy. Your abandonment of prayer as an adult is one of the gravest major sins. So, preserve it, for it is a cause for success. Congregational prayer is obligatory for men according to the soundest opinions, and it is best to perform it in the mosque to attain the immense virtue.