This might be a solution (it worked for me):

Go to a legit massage shop and have a standard massage. You might even be able to claim a HFR, so this could be cheap.

This should get you used to the room procedures without feeling any guilt. Once you get the hang of it, you can get adventurous and go to an RnT place. The first half will be similar, if not to the same quality, but the second half procedure could vary from girl to girl. If you were comfortable with this, go and see the same girl again 2 or 3 times; this will give you confidence to engage with her.

After that you should be able to go and try other girls/shops without any fears.

Happy punting.