Dear god, what if I've wasted my entire 20s?

I'm 27 years old (M). I've never had a relationship that lasted more than 3 months, never owned a car, never lived alone. I was bullied at school and was depressed and isolated throughout my 20s. I live with my parents because I can't afford to move out, and I can't afford to move out because I'm depressed and isolated and have no friends and have few social skills and have no work history. I've never even kissed a girl. I have no idea how to interact with people generally, let alone in a romantic way. <br><br>I'm on anti-depressants, and I'm seeing a psychologist, but progress is slow and it's honestly hard to stay positive when the only time I interact with other human beings is when I buy food. I feel like I've wasted my entire 20s dealing with depression, and now it's gone. It's over. My life as an adult has started late, and at this rate it will be another 5 years minimum before I have the life I want. <br><br>People say your 30s are the best decade of your life, but mine are going to be the most basic decade of my life. I'll be doing in my 30s what most people do in their teens and 20s. I feel like I've ruined my entire life. I'm going to be 40 before I have the life I want, and then old age will be around the corner. <br><br>The pressure to be successful and have my life together is killing me. I just want to enjoy life, travel, fall in love, find a job I really like, make some great friends, etc. I want the standard decent life that seemingly every other person has. Why can't I just have that??