I want to date and have a genuine relationship but am I ready?

I'm 27m never had a date, never had a relationship before. I'm fully aware that have have poor self awareness, I've spent most of my life alone and friendless not by choice though, I've tried to make friendships but looking back i feel like they would be acquaintances at best, however, I've had one platonic relationship once for a year before it ended abruptly.

my concern is no one really tells me what I do wrong and what I do right, I've asked many coworkers like if my personality is bad or do I speak in a weird way. even though i want to improve i don't know exactly what it is I need to improve. I'm pretty self-conscious, I put myself down a lot especially comparing myself to youtubers who express themself and are very charming y'know, like everything that I struggled with, they excel at and i think that is the main contributing factor that I cannot get into a relationship.

I'm not funny, I'm not charming, it's hard to express myself, I may not know how to act well in certain situations. And because of that, I'm terrified of approaching and asking someone on a date. it's hard to imagine that a woman is ever going to look at me and be capable of liking me. or that I'm not just a piece of dirt because I feel like if they don't like me, I may as well be an annoyance even looking in their direction.