I get that every punter is different and the experience sought varies from punter to punter, I too have had punts where no physical sex occurred.
I honestly think that you crave a girlfriend rather than a girlfriend experience with an escort, as nice as she may seem, it's an act at the end of the day. Try asking her out for dinner and a movie off the clock & see what happens.
It's not that hard to get a girlfriend these days. Internet dating is now prevalent & commonplace to the point that I think in 20 years time it'll be the norm as to where people met their spouse. You're a shy guy, with, by the sounds of it, some confidence issues, chat to girls online first, then on the phone, then if you're comfortable meet them in person. Shyness and being a nice guy are not negative traits to many women.
Punting is an illusion, it's not real life. The good ones will blur that line and may actually care for us (as I think Vicky does for you), but at the end of the day it's a transaction where money exchanges hands for a woman to spend time with us. What we do in that time is our own business, but it's a transaction all the same.