Premature Ejaculation? Performance Anxiety? ED?

Hello all,
I’ll do my best not to share too much or too little, and this is the first time I’ve ever been on here, so I apologize if I don’t quite get the posting culture on here yet. I do appreciate anyone who reads this and chooses to reply.
I’m in a relationship with the woman of my dreams. We’ve been together for about 2 years now, and everything is going perfectly, except for our sex-life, if you can even call it that. We still haven’t fully had sex.
I don’t know what my problem is, I think it’s probably a combination of so many things. I’m a virgin at 23. I’ve tried to have sex with my partner plenty of times, but I have not been able to penetrate. I know it’s not an attraction issue, and it breaks my heart when my partner wonders if it is. As embarrassing as it sounds, I can stay hard and finish fine if we are dry humping or if I’m not trying to penetrate. When I try to penetrate, I just can’t figure it out. I don’t know if I’m like not lining myself up right, but when I try to adjust myself and get it right, I’ll start to go soft. We have tried so many different things and I’m just at a loss, I wonder if I’m just a broken man who isn’t meant to have sex. I feel incredibly uncomfortable with my body and myself and my abilities in bed and I just can’t get out of my head.
I got this Mojo subscription and I haven’t worked through all the courses yet, so I apologize if this is something already covered and I just haven’t gotten to it yet. I just needed to post something asap. My relationship has never been rockier and this is the only reason it’s doing so poorly. All I want anymore is to have a normal sex-life and good performance in bed. It’s gotten so bad that I get scared when my partner brings up sex or even the idea of fooling around, because I don’t want to let her down or make her feel undesirable or disappointed in any way.
Thank you to anyone who took the time to read this, and thanks so much to anyone who replies with anything. I genuinely appreciate it more than you know.

Hey mate, would you say you have trouble getting into her? Maybe get her to help out and guide it in with her hand.