So I am 20 and a virgin which really isn't a problem, a lot of my friends are virgins and don't really care it isn't something I'm that bothered about. I also don't really have a 'plan' to ctb. I find when I plan it, I overanalyse and mess up attempts or get too anxious last minute. I'm at a terrible place mentally, and my most successful attempts have been the ones where I didn't plan anything and it was impulsive, SI is almost non existent when I'm feeling so bad I'd do anything to end it. Anyway I'm in place where things are bad and I feel as if it'll reach that really bad place in a few days. Long story short I'm going to kill myself in the next few days. Kinda wanna have sex before I die? If you have had sex before, is it something I should be prioritising on my 'things to do before I die' list or is it trivial and something to miss out on? I always imagined losing my virginity to the love of my life, but I have exes and past flings who I kinda trust and would honestly love it if I asked them, so realistically I could lose it pretty easily.
If you really want to have just sex, then go pay an escort. That said I do not think you will enjoy it a lot. You need to be lucky enough to find an escort that will go the extra mile to make you feel better and that is not common.
If you decide to do sodo not pick up girls in the street. If you live in a big city you should be able to find a good escort site. Contact the site and tell them it is your first time and that you would like to have a real GFE (girlfriend experiences), make sure the girl does french kissing, that will help make the experience more real. Do not try to look for strange or fancy services. Tell them you want a few kisses, oral sex, and intercourse.
The service could be expensive (that is of course relative), but in most western cities you should be able to get a good service for 200 USD (or equivalent). Not sure about your age preference, I would go for a woman above 30/40. If the woman is good you will enjoy a lot more the oral sex than the intercourse.
That said again, what you are looking for is intimacy. You cannot pay for that. It is built after years of relationship (when you are lucky). My suggestion is to remain virgin and move forward with your plan if this is your deside. Belive be putting your penis in a vagina will not make you feel any different after, but I can understand the desire of physicaly touch with another person. I hope you find what you are looking for.