I thought that I was the only person to use the word "fruity" to describe some dance moves. I used the word to describe some steps in the American Viennese Waltz.
Most people struggle with Samba timing so don't beat yourself up.
I'm not sure that you're using the word "syncopation" correctly either but others on this board will tell you - much more than you ever wanted to know.
I'm concerned that you may not be receiving very good instruction. You use the word "embarrassing"; you should NEVER feel self-conscious because of your dancing. If something in your studio is causing you to feel ill at ease - the instructor or other students - then you may want to look elsewhere for dance training.
Frustration is normal and healthy. It tells you that you still have the desire to dance.
Some folks will respond to your post with a overflow of specifics about the moves that you mentioned. Do yourself a favor and ignore them. You can't learn to dance by joining a message board, watching videos, or reading books. All of those things can be helpful but you need to get your instruction from your teacher.
jj