Struggling with Sensory Disorders and Trying New Foods

does anyone else struggle with sensory disorders? more specifically to eating? because ever since i was two years old and was starting to eat human food, my parents told me i’ve been such a bad picky eater since. and i mean like i only eat two fruits, one vegetable, a eat a variety of snacks but also struggle trying new ones. like i eat lays chips but i won’t eat doritos. won’t even try them. every morning i have cereal or a muffin. lunch i have cheese and bread. and dinner i have french fries with cheese. my whole life it’s kinda been like this. but when it comes to any sort of drinks like smoothies, alcoholic beverages, soda, etc. i WANT to try it. but have anxiety trying it in front of people because then they give me that “OMG. you tried something new!! how was it?” and for someone who also has social anxiety i HATE that. i hate that attention. i love trying drinks. but i can’t bring myself to ever try anything food related. it’s so difficult for me. i can’t try anything new with people or on my own. just wondering if anyone might know something to help because i want to eat healthy and ik my body is yelling at me to some days, but i just can’t. idk what to do at this point. i’ve been living with the same meals everyday for almost two decades now and i want a change and no one understands why i won’t try anything. i just for once in my life want to go out to a fancy restaurant with someone and eat a meal. rather than sitting there eating fries and feel like everyone is staring at my food while they have a full course meal in front of them. i want to get better at this