Of course it's not too late. Having sex aside, if you're unhappy with who you are right now, it's going to be HARD for you to become the person you want to become. There's no doubt about that. You probably have a bakers dozen worth of bad habits to get rid of. But people break free of their wizardom all the time. The answer to should you bother, if you are currently unhappy, is a resounding yet. Will you?

Sex isn't the catch-all answer to happiness. But if I could make some assumptions about who you wish you were, I would guess that it's a stepping stone on the route to you getting confidence in yourself again. However the road to having sex, unless you want to get an escort, if you're a 26y/o who's been struggling with social anxiety for a long time, can be difficult. It might be easier to work on other aspects of yourself first. Do things you think would make you proud of yourself. This can be anything from going back to school and learning a skill to socializing with people at parks. Start going to the gym just to take yourself out of your comfort zone, surrounded by strangers. You'll find most of the time that everything is going to be easier and less horrifying than you've imagined in your head.

I was a virgin at 23, and also struggled/am struggling with social anxiety. I'm 24 now and far from where I want to be, or where most people would consider a success. When I had sex and it was a bit of a relief. Immediately after it had a calming effect that lasted a couple of days, and your mileage may vary on that. It was a stepping stone for me for sure, but importantly, once I got it out of the way I realized how many other things I needed to do to improve myself that had nothing to do with pussy. More than having sex though, it was the experiences on the way, of constantly being thrown WAY out of my comfort zone at times, where I think I saw the most improvement. Best of luck OP. We're all gonna make it probably.