You can sacrifice when your sacrifice lead to dangerous attack and open lines against opponent king. You can sacrifice when you are sure, you will get your material back and a better position. You can also sacrifice to avoid being checkmated. Sometimes you sacrifice just so that your pieces become active.
I also hesitate when it comes to sacrificing and until I am sure or I believe I have something, I will not sacrifice.
Sometimes you just have to be brave and follow your instinct, if the sacrifice work you win, if it doesn't you learn.
In some positions, I see an opportunity to sac, but, I hesitate because I always see counterplay. Could you give me some ideas/tips/tricks on how and when to sacrifice?