Believe me, girls usually don't let "undesirable" guys touch them in that way. Really. (At least when they're sober.)
So that still counts as
something, even if it isn't what you want. It's something to start with, at least. And you can either acknowledge that it's a start and build your confidence from there, or you can continue whinging about how you are undesirable to girls, even though you have touched more boobs than I've touched penises. By the numbers, clearly I am disgusting to guys, and my husband just has a screw loose in his head.

But hey, I found him, against the odds!
And I've mentioned this before, but it seems like you and hopeful have different flavors of the same problem. You haven't found anyone who's seriously invested in a relationship with you. (You only need one, remember?) Compatibility is the major issue at hand for both of you, not just "undesirability." Because girls do not let any random ugly guy touch their boobs.