I’ve always been afraid of intimacy

I’ve always been pretty afraid and awkward about doing stuff in relationships. I used to make excuses or end the relationship when people wanted to take things further, just because I was too nervous and scared.
I’m not sure why, I’ve just always been this way, maybe I’m scared that I don’t know what to do.
People said that I was boring to date because I just wanted to kiss but go no further.
I feel like I’ll always be this way, it sucks, maybe it’s just part of a bigger anxiety thing (I have quite big social anxiety.) 🥺