Always been a huge loner, but now it is getting extreme and really

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Always been a huge loner, but now it is getting extreme and really starting to affect me. The facts:

-Divorced parents
-Overprotective mother, had a few close friends growing up, don't really know any today.
-Don't know how to make new friends. Very uncomfortable in social situations with people I don't know, I mostly just be an observer in these cases.
-Grew up fat kid, few friends no female attention, ended up feeling like I didn't really deserve someone for being a fatty.

No Girlfriends in high school, never really lived day to day life with a significant other. Been in two serious relationships that started and ended online, but did make some IRL visits to meet and have sex. Never really pursued friends or women, I would always wait for people to pursue me. I used to be a part of many online communities and be a regular participant and social. These days I associate with no groups, not even online. I feel completely closed off to any sort of connection with others.

Now 30 years old. Spent last 5 years training in kickboxing and have gotten in good shape. I have above average looks now, but I'm so fucked with relationships its so hard for me to even try. I have been completely alone for so long, but the lack of physical and emotional intimacy is getting extremely tough. I get like 30-40+ matches on Tinder. Whenever I meet a girl I seem to sabotage everything by acting super weird. I'm craving intimacy so bad, but it seems like I won't even let a girl get close when she's interested? It's been like 5+ years since I've had sex. The few times I've hooked up with a girl, I couldn't keep a boner with a condom and it really kills the mood. Definitely spent a ton of time alone masturbating which I'm positive is a problem.

Any general advice? Really feeling lost. Thinking I need some therapy, not sure where to start.