I can't see myself ever being that intimate with anyone?

I had one boyfriend in my life and we used to dry hump each other and I was shirtless and without bra and I feel like I should have never done this because whenever we did it and if I looked at him in the eyes I felt very awkward about it. We weren't even in love. t also didn't feel all that comfortable with him, like I was always nervous around him and I feel nervous when I'm around any guy that I like. I have trouble seeing myself in the future being able to be that comfortable around a guy being able to talk about sex and actual doing it and being that intimate with a guy without it feeling awkward.
I can't see myself ever being that intimate with anyone?
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