Dealing with ARFID: My Struggle with Picky Eating

So along with Depression, ADHD, and Anxiety, I've always had an issue with food textures - I am now 24 but since I was a toddler I've been the "picky eater" of my family. This means a very select range of meals beside the classic pizza, chicken fingers and fries, pasta and chicken, etc. My immediate relatives and close friends know it's about textures/sensory things (not just being a brat) and are supportive to help me try more things, but the rest of the world thinks I'm just an immature person. I've been able to slowly expand my list of acceptable foods, mostly with a combination of therapy and working with a nutritionist, but I really want to know what I'm dealing with so I can focus on improving it. My research suggests ARFID, but I've never been scared of foods or choking, and I have improved with my range of food since my childhood years. Anyone else have something like this or a potential plan of action to help it?