How quickly do you start a sexual relationship?

I always thought I had to wait

I only discovered late in life (more than 30) that if I'm having heavy kissing with a girl, I can easily touch her privates she won't mind
Then she would do oral if I ask
Then if I try she would let me stick it into her
I only tried this with about 3 or 4 girls and always success
I never knew that when I was say 15 yo to 30
Such a waste
How quickly do you start a sexual relationship?
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