As others have said, if you immerse yourself as much as possible, by doing the hard work of reading, and listening to Japanese, along with grammar and kanji study, you’ll get a lot of the way there, though for most people it takes quite a while (though that depends on your inborn facility as well as your self-discipline).
And the other equally important part if you want to achieve verbal fluency is actually learning how to speak. This part is more difficult (but certainly not impossible) outside Japan. First step is probably doing a lot of shadowing (where you listen and repeat audio by a native speaker).
Second step is to find a native speaker to converse with, and that could be a person on the internet or preferably a real live person, preferably a real live language teacher.
Even with all your immersion and language shadowing, it can still be daunting to compose sentences on the fly. That’s why you need to talk with someone who can get you to converse and correct your mistakes. Good luck!
(As for myself, I’m fluent in a very minimal way, in that I can say a lot of very basic sentences quite easily, but I also easily reach the limits of my ability. I hope to expand those limits over the next couple of years. I’ve been learning Japanese long enough not to expect miracles, but I’m trying.)