Get over yourself, you are literally the person standing in the way of your ability to achieve what you want. Gamish had good advise. It takes a deep issue to get to 35 and not be laid once, time you understood the gravity of that situation and stop f'ing around.
The fact you started this thread shows you are willing to put yourself out there for public critique, good first step. Next step get laid, if that sounds daunting (which it should, given your situation) get a hooker to minimise the walls you have built for yourself.
Your moral standing (read arrogance and whitenightery) is not going to assist your outcome. Woman dont give a stuff about your moral quandry or complete lack of life experience. You only get one life, you have wasted the majority of your best f'ing years so get on craigs list now start living. Or go to a swingers party, do something ffs.
Also given your lack of experience be prepared for a complete fail on your first time, sexual disfunction (no erection, premature ejaculation, clumsy action) these are all yours to overcome and to be honest it takes years of good f'ing to get any good at it.
Buy viagra just in case and have it ready for your first crack, it may just be the thing that sets you up for a second round.