I think many, if not most, of the couples who are fans of Desire started a lot like how you described.
We were also very nervous, very hesitant before our first trip to Desire. We were at points we almost cancelled due to nerves and worries. But Desire is such a beautiful resort in itself. The staff members are so friendly & helpful. The grounds and landscaping are a beauty to the eye. The pool is great, the beach is nice. The restaurants have great food. The other guests are SO welcoming and considerate. But the best part of Desire is the freedom to be as sexy, wild, or tame as you want. It's a clothing optional resort, but there is zero pressure to take your clothes off, I promise. I also have body issues (most people do!) but I cannot tell you how liberating and relieving it feels to be able to shed your clothes and not worry about what others think. Everyone else is in the same boat. It's an amazing feeling.
Another great thing about Desire is the openness and ability to enjoy your partner freely, out in the open, or in the presences of others, if you wish. You can also, of course, engage with other consenting guests for as much fun as you all want. There's no pressure to do anything you don't feel comfortable with and there's also the opportunity to seek what pleases you.
The resort is also very entertaining, both day and night. There are always events, activities, shows, workshops that are organized and posted.
For example, here's this week's schedule.
You do not have to participate or engage in anything if you do not want to. But it is a lot more fun if you do.
Desire is a wonderful place. Look at trip reports here and reviews on TripAdvisor and Google.