I have some more.
I think you'd be a good candidate for online dating. Tinder, okcupid, I'm 43 so you might have to ask someone younger which sites/apps to use. You don't have much of a social circle, so meeting someone through your small circle is likely not going to be efficient/successful.
The good thing about online dating for someone like you is that you get to wet your feet before you go for a swim. Chat them up and if you have things in common/a good conversation, arrange to meet them in person. You're an introvert, but having a good time in person with someone you've been vibing with online (a phone call first would be good too) is definitely doable.
Also, these women you meet online are complete strangers. They don't know you as the shy guy who never had a girl in his life. You get to be who you want to be with these women. you can project confidence/experience even if you don't have that in reality. Just use real pics and don't lie about your height and you'll know that most of these women you're meeting at least see you as a sexual option.
Last piece of advice, don't put pressure on yourself to fukk from the jump. You're not a pay for play type of dude, you've made that apparent. Be proud of yourself after going on a date that you enjoyed, and build off of that. You keep vibing with one chick or several, eventually you'll take one of them back to that spot you have to yourself.
And you're in the DMV, sophisticated, beautiful women abound.