Is anybody else worried about not experiencing life?

am turning 21 soon, and I am someone who has always lived cautiously and aimed to make practical decisions. I was well-behaved all throughout school and stayed completely out of trouble and compromising situations!

Since entering my 20s, I realized that always trying to stay out of trouble has caused me to have little to show for my life! I want to experience life more, but I have so much fear of what’s going to happen! A lot of people will say “you have your whole life ahead of you”, but I think this mindset of wanting to be safe will probably follow me throughout adulthood!
An old friend recently invited me on a camping trip! I have never been camping nor have I travelled with friends! The part of me seeking an adventure wants to go, but that cautious, rationale side of me is skeptical about doing this! There is another side of me that also feels like I’m going to regret not doing this despite all of the risks involved?

can anyone relate to this?