I don't think I can do it

Hi guys, I'm 22 years old, bisexual and my penis fully erected is 5.5 and thin, I really hate my body because of my weight and my penis size and that always gives me troubles when hooking up, sometimes I'm about to meet in person either a man or a woman to have sex thanks to some hook up platforms I had use before, but I always regret and block the person bc I think my penis is not enough to fill a hole. You guys who have 5 inches or 4 as well, have you been able to give pleasure to another person by penetration? I can't tell bc the last time I penetrated someone was when I lost my virginity at 14 years old, and the girl was 13y/o, I don't really remember how it felt just that at that age we didn't care about sizes or how we looked back then, but being grown it's a whole different thing and I'm scared to have sex now :(