Welcome Bro, a late start is better that a no start.
Don't wait until everything is just right. It will never be perfect. There will always be challenges, obstacles and less than perfect conditions. So what. Get started now. With each step you take, you will grow stronger and stronger, more and more skilled, more and more self-confident and more and more successful.
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She ended up sleeping with some guy I didn't even know, so I guess I dodged a bullet there.
Hate to bust your bubble here, but if you desire to lean, you need reality.
The only bullet you dodged was facing your own fear, she fucked that guy only because you didn't.
Now; Go to the bar. Find a girl. Ask if she can cook. Tell her you have a guitar at home. Ask her if she wants to see it. Bring her home. Sleep with her. Tell her it's your birthday in the morning. Enjoy your made with lust breakfast.
Get going.