I wanna cosign what TheM3eds said and also emphasis that you are literally twenty years old. you ever play undertale? know burgurpants? if not you're this guy https://www.gamersdecide.com/sites/default/files/authors/u141624/burgerpants.jpg
you should try to get rid of this idea that you've missed out on anything in life by now and remember that you have so much left of it to live, or else you will just depress the hell out of yourself and not get anything done. you can literally do anything with the time you have (other obstacles in life besides age notwithstanding).
the messages that you are picking up on are bs almost tailor made to make you swallow a poisonous black pill (ie, incel shit), dont worry about it.
and on that last part about "failing" your "natural functions". That's also incel shit. You have failed nothing. Some people dont even want kids, or even want to have sex and their is nothing wrong with them. theirs nothing wrong with you either. you're not some mutant that isn't living up to the proper standard.
you need to kill whatever sexed up poonking you have dreamed up in your mind to idealize and compare yourself to unfavorably and think about who YOU really are, what YOU really want out of life, what YOU wanna do, and who YOU wanna be and do it with some respect for yourself.
also LOADS of people don't have a relationship at 20. It's not some big deal or failure. its actually pretty normal.