I have a neurological stammer and I struggle with some words in Salah. Such as I say Alawatu instead of Salawatu and Irata instead of Sirata, Amiya instead of Samiya. and much much more. Should I carry on in this manner and just say it how it comes out (don’t repeat) or should I struggle my hardest to say the word.

You try, if not possible then In’Sha’Allah it is acceptable
Allah is all knowing and Hearing
He says

Holy Quran 40:60
وَقَالَ رَبُّكُمُ ادْعُونِي أَسْتَجِبْ لَكُمْ ۚ

And your Lord says, "Call upon Me; I will respond to you."

Holy Quran 50:16
وَلَقَدْ خَلَقْنَا الْإِنسَانَ وَنَعْلَمُ مَا تُوَسْوِسُ بِهِ نَفْسُهُ ۖ وَنَحْنُ أَقْرَبُ إِلَيْهِ مِنْ حَبْلِ الْوَرِيدِ

And We have already created man and know what his soul whispers to him, and We are closer to him than [his] jugular vein