How do I fix things with a coworker I’ve avoided but still like?

There’s a coworker that I met the year before Covid that I was attracted to and still am. I didn’t see her for 3 years because she was WFH. I’m a warehouse worker and she’s white-collar. We originally worked in different buildings, but when they renovated unused office spaces in my warehouse they moved her and others into the building. When I saw her again, I was cowardly and I pretended like I didn’t know her because it had been so long. I was worried about awkwardness but when I started avoiding her it made things even more awkward. It’s been 4 years of me pretending like I don’t see her if I spot her in the distance or taking a different route if I know she’s around. I’ve gone back and forth several times about going up to her and trying to clear the air, but I chicken out at the last moment. I don’t have a lot of dating or relationship experience, and I’m way past the age that I should. It’s embarrassing, and I doubt myself a lot when I’m around someone that I like. She’s definitely noticed that I’ve been avoiding her, there was a moment relatively recently where she came up to me when I was standing in line for food at a company barbecue and she started straight into my soul. She looked irritated and disappointed. Later that same day, I saw her form across the picnic area and I thought about talking to her. She noticed me looking at her and she quickly gave me a big open smile. I can’t read her mind, but the message I got from her actions was that’s she’s tired of me avoiding her and that it’s ok for me to talk to her. What should I do?

How do I fix things with a coworker I’ve avoided but still like?
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