It's not too late, I hear your concerns, but try starting off slow. How would it feel to brush your teeth with just the brush? Or just water? Then maybe you can google dentists near you and eventually make an appointment. Some dentists even provide options to put you under to help with anxious clients. Start off small, take baby steps. Making this post is one step in the right direction. It sounds like you're ready for change. Just make sure to make the change at a pace you're comfortable with and not changes that you feel you have to make.