I agree with all of this. I didn't date anyone until I was 23. I'd just ignored the whole scene and engaged in my interests, but then felt it was time. I dated 3 women in the span of 6 months or so, it was hard to do at first, but I learned to look past my anxiety. I wound up marrying one of those women and I was happy for 7 years until she decided marriage wasn't for her and we divorced amicably.
I was pretty shook up and confused by it, and went back to ignoring the relationship scene once again, explored some new interests very intensely, went places and experienced things that I still remember quite vividly some 13 years later. It was sometimes hard to not feel drawn to being in a relationship, or at least dating, but I just couldn't cross the line.
After about six years, I started to feel like I wanted to share some experiences with someone. It wasn't easy, but I opened myself up to the possibility, took a few chances and went on a couple of dates. After a few months, I met my current partner, and we've been together for almost 13 years.
It has been hard being in a relationship, things come up that I never ever thought about, and nearly every week it seems the whole thing is hanging by a thread. But we manage to work through it. If it were to end, I vacillate between thinking that I'll never get into another relationship (most likely), and thinking that I'd jump right into dating after a brief period of centering myself (not so realistic).
I do wish you good luck and happiness.