Perhaps this story will encourage you to get out and play.
DW and I started out at driving ranges. We did this for several months. We were too nervous about going onto a course for the same reason as you (In addition, I had bad memories of the only other time I tried golfing years ago when I was 21 - no lefty golf clubs to rent and a general "attitude" directed towards me as a minority back then).
We took a vacation at a state park that also had a public golf course. When we purchase balls for the driving range, the folks in the pro shop asked if we wanted to sign up for a round. We said no, we have never played golf, we were too embarrassed and did not want to get in anyone way. They encouraged us, saying everyone started out as a beginner. Before we left, they said if we wanted to play a round while we were there, they would only charge us $10 total as beginners - including cart fee and 2 sets of rental clubs.
So... the next day we went out. Yes, we were slow, But, we just let everyone who came us behind us play through. We would say we were slow, this is our first time out - and EVERYONE was kind and encouraged us. We actually caught up to one couple who invited us to play with them on the last 3 holes, and they were very patient and encouraging.
Later that evening, at the state park lodge we were staying at, we ran into several of the groups we let play through. All of them talked us again for letting them play through. One group evening invited us to join them golfing the next day. We had a conflict so could not. But it gave us a good feeling and confidence on continuing to play golf.
Now, when I encounter beginners on the course, I also am patient and encourage them. Several times I have been paired up with beginning golfers, which is fine by me. Them seeing the mistakes I make after years of golfing probably encourages them to be better than me.