Sounds like it is a confidence problem. What have you done to improve your confidence? Sports help a lot, team sports particularly, but things like boxing/MMA where you can interact with people but performance is solely down to you are fine. If not, join a gym, free weights.
I know the feeling. I lost mine quite late at 22(maybe 23 actually). I had lots of experiences prior though, but anxiety really got the better of me, other **** also which I don't want to get into though.
You'd be better going on a dating site, not tinder (or similar) and just being honest in your profile that you are sky etc, let them know early you never did it also. Using an escort for getting rid of the v-plates is sort of pointless, it wouldn't fix the issue. They;ll not be staying the night at yours, so you'll still feel lonely at night and depressed that others are having mutual fun for free around you. Using an escort will allow you to say, 'hey at least I'm not a virgin', but who cares really. If you hit 39, then definitely, but at 20 it is sort of pointless (maybe not as late as 39 but you get the point, you still have time). Try find someone to have fun with, it will improve your social skills regarding girls and performance in bed. If it is anything like what happened to me, she'll rip your heart out in the end, but the experience was worth it and the lesson learned to stay the **** away from girls like her invaluable...got to slay a few dragons to get to the princess, and if your using escorts, then you're paying someone to slay an iguana while they tell you its a dragon.