30 y/o “virgin” in desperate need of advice!

Hello all, first off, I apologize for any mistakes made. I’ve read Reddit posts but have no idea how to write one or the rules of doing so. To begin with, I have had “sex” before, but I was either VERY young, or I was under the influence, and was over 15 years ago. Don’t remember much of any situation. I’ve never had sex in adulthood, but I have been in multiple relationships (although I’ve taken a few years break to focus on myself) I’ve always ended things before I let it get there. However this isn’t (in my opinion) a trauma response, but it’s more so because 1: I’m incredibly self conscious of my body (I lost a lot of weight about 4 years ago and have yet to deal with the loose skin, before that I was very large) and 2: with being neurodivergent I struggle with social cues, how to initiate, when to initiate, and I have anxiety. I don’t know what a realistic intimate interaction looks like, how to start it off, or how to tell if he wants to initiate those first steps. We’re talking like right at the beginning before kissing. How do you then move from kissing to more intimate things? Then from that into the bedroom? When do I undress? Is it weird to just undress right there or do I excuse myself? What if I want to wear something sexy to cover the loose skin, when do I put that on? I want to move on in life. I want a serious relationship. I’m tired of letting my anxiety get in the way of my life. I want a family, and this is such a huge hindrance (obviously). Please help!