Some people avoid connecting with others, because social situations trigger anxiety and fear. This is based on shame and may be worsened by stigma. Cognitive Behavioural Therapy can identify and treat your specific fears.
Support groups, online and in-person, may be a good place to talk. There aren't many good ones specific to dating inexperience, but you might find support in allied groups about shyness, anxiety, depression, autism or other issues. Please share your experiences!
Does the counsellor understand dating difficulties and your other issues? Do they offer the kind of therapy you need? Are they optimistic, realistic, honest and kind?