How to ask out women without the drama??

I feel i will make thing worse if i ask women out and I usually feel like asking woman I know. So when i feel like asking them out i am worried about the social circle we are in and how it will impact my image if she rejects. Help me out, this is one of greatest fear and because of this i am 27 yo virgin.

i used to think I would lot of relationships and try out relationships with a lot of women but the fact is i don’t even have many female friends

All because of the fear of being judged by the people we know and mutuals

There are women in my social circle i am dying to ask out but can’t even start a basic convo

It’s getting late for my age. Am i done?

Is it possible to explore sex and relationship with multiple ppl after 26 😭

Tldr: 27 M afraid to ask out women due to fear of rejection and concern regarding image in common social circles