How should I handle myself in this, quite frankly, strange place I find myself in?

Long story short, I am finally beginning to see my self-worth, at age 24, after dealing with social anxiety and depression since my teenage years.

But, unfortunately, I lack many experiences many people have at this age. This leaves me nervous for adventures down the road, especially romantically.

In the past, I often balked at the idea of being with someone. If it wasn't thinking I was too young (in my teenage years, in high school), it was my insecurities.

Some of these have carried over to now, but I find myself more hopeful that things will turn around, yet still feeling hopeless. I haven't figured out whether reasons I've stayed away from relationships are valid or whether I'm just making BS excuses, and that things like my past don't matter.

How should I approach things in the short-term? Should I continue to work on myself, give dating a chance, or something else?