Yeah, for a while I kind of just avoided sex. I was definitely too worried about my performance. For me, I think what helped it was this girl I was with who didn’t put any pressure on me, and was cool with just cuddling until I was ready or wasn’t ready instead of trying to help me get erect, which would only make me feel pressured. She showed no signs of annoyance, and seemed to really just want to be there with me. She made the whole thing just feel fun like it was no big deal. Since then, I haven’t had any problems with any partner.
Also, perhaps you have some sexual repression issues, and some trauma you need to address? Always something to consider.