Good job on never trying drugs/alcohol. Shit is way overrated. Alcohol is just terrible all over and even "safe" drugs like weed can send you spiraling into depression and worthlessness real quick.
As for sex, I'm a year older than you so I'm a wizard now. I consider myself to have fucked up since I did desperately want to have sex but was too much of a pathetic loser (not to mention having undiagnosed and untreated crippling anxiety and depression all throughout high school and college). Never had a girlfriend, never kissed, all that stuff.
10 years ago I said if I made it to 30 without having sex i'd kms but these days I don't really care about that anymore.