Warren Steptoe wrote an informative technical article on crossing a barred entrance to the open sea from an inlet or river mouth in Club Marine publication [Steptoe, W. (2002) “How to Cross a Bar Safely”, Club Marine, Vol. 17, Issue 6.]
When crossing a bar you are dealing with the possibility of injuries and even death, so if there is any doubt about getting across a bar safely please do not do it.
There is a certain amount of knowledge and experience necessary to gain confidence. Experience only comes from, well, experience and in a situation with inherent dangers the only way to gain it is sensibly.
Growing up swimming in the surf, which so many Australians do, ingrains a considerable amount of fundamental understanding about bar crossings.