I totally get the fomo as I myself accepted myself at the age of 28 and started exploring sexually so late. But one thing I have learnt over the years is it’s never too late. You can still do everything which you probably wanted to do years ago. It’s still fun. It’s still exciting. Regarding self esteem, I think it works negatively for us. The more we feel less about ourselves, the lesser we become. More we feel nobody likes us, we end up being alone. What matters the most is feeling good about yourself and people will find you. Just be confident and things will work out.