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I tried many things to get over this, but the best solution I found was to simply accept the fact that I'm picking her up. I want her to know that, and I want to know if she is worth my time. This may seem strange initially, but the best way to deal with something is to first accept it. You hit a note on a very common dating guru blunder, where they give you all the right knowledge, but simply take this fact for granted. They just assume you'll be comfortable using their tips and advice.
That my friend is the solution. Thanks for making my day frost!