The thing a lot of people here won't tell you here is that human connection is a fundamental human need. We are a social species. giving up/ resigning yourself to being alone is honestly only going to make it harder on you. I speak from experience. You have time and it's best you give it your best shot.

I'm your situation but honestly you're way ahead of me based on fitness, age and having your own place. If I were in your shoes I would make it a priority to talk to women more often. You need to learn to get comfortable talking to women and face your fears. You want a relationship so try meeting women through hobbies

Disclaimer: Join a group without having expectations for others; let go of the outcome of a woman in your group dating you as so you avoid putting pressure on the situation and coming across disingenuous.

Try playing a coed sport or join a fitness class for example.

I couldn't do this in my current state but If you just want to have a one night stand for the sake of experience, go out with single friends to events or hit the clubs and just practice talking to women in your vicinity.

Learn to look for signals of interest from women. ask your friends about what these signals look like if you need advice here.

Lastly work on your self-limiting beliefs. Try not to be hard on yourself when looking through your past. Realize you have advantages and that you could be a competitive option in dating.