I honestly don't think I could ever go on a date

I've only been on one date in my whole life (when I was 16) and it was a total disaster. I can't stand how forced and cringe it feels to interact with someone in this way, and what would be the point anyway? Are you gonna ask them out again? Are you gonna touch or kiss them? If not why are you even dating in the first place. What if they reject you? What if you reject them? And the worst part is if you ask someone out and they decline, but say that they want to stay friends, but in reality they don't want anything to do with you.