I haven't read all the newer replies but wanted to add to my earlier post, in case it helps. The person I knew in this position who went to a legal brothel was mildly autistic. Dating and all that was the absolute hardest thing for him, though he had a good job and so on. After getting his feelings hurt badly a few times over well meant missteps with women, he was afraid to even try anymore. Add to this no sexual experience at an advanced age and he was very unhappy. He wanted a partner but just felt totally unable to bring that about.
He thought having at least a little sexual experience would help his confidence in feeling able to approach women etc.
So, he first looked into "sex therapists." But they're few and far between, expensive and guess what--- they use "sexual surrogates" - people you pay to have sex with you and work on whatever issue you have with it. This is in the USA, if it makes any difference.
So then he decided it would get the same job done just to go directly for it, after not being able to find a "sex therapist" in his area. What he learned from them is that they (prostitutes at the legal brothels) often do serve as "sex surrogates" in this way, helping men with this issue and others.
I'm sure it wouldn't be for everybody and we all have our personal opinions. But it was legal and that was his decision and it seemed to have worked pretty well for him. Since then, he's had a few dates and a semi-long relationship, which is a lot of progress for him. shrug
Another option that I can think of, is to join a dating site and consider giving a hint of this in your profile or on the questions they ask. You'd have to think of how to word it though, and how much you want to disclose. If you think that would cut down on the awkwardness and/or make it something you feel like you can do. Whatever you can and want to do that might help you get unstuck and able to progress with your goals. Best wishes to you. :)