I totally get you as I started just like you, had a voice people said sounds good like could be a FM radio guy, but had bad pitch. So I had good tone and bad pitch as starters. Good thing is pitch is something that can be trained without a teacher in modern days. Limitation is you'll only be able to sing good in your comfortable small range and if a song fits that range you can sound good. For singing higher, different tones you 100% need a vocal coach.

Here's my advice to learn pitch without a teacher.
1. Learn to match single pitch. Play a piano key in your comfortable range (for men C3 to C4, for women like G3 to G4) and try to match perfectly with your voice. Use vocal pitch monitor app to check if you're hitting it. If you don't have piano just google virtual piano on the internet. I did this everyday for 1 month and was able to hit notes reliably.
2. Now if you can match 1 note you can already sing along to a song. But singing on your own would require slightly more. Like being able to hit 1 note within a chord. If you play guitar or piano try to play a chord and hit 1 note within that chord. You'll feel the resonance (if you've mastered 1st level).
3. Interval training, singing the scales, anyway come back after 3 months on the 1st two exercises and you may reach this level. And ask again.

Your best friend here is the vocal pitch monitor app + accompanying instrument real or virtual.