Completely agreed with Siân! The idea you get about romance from most visual media is just... lacking a lot. Partially probably for time constraints but also just due to plain hyperbole and fantastical romanticizing.
Romance and kissing and actions don't just "happen" to us in the same way that, while we can't control everything that happens in life, we do control the choices we make and the actions we take. Asking for a kiss because you wanted to kiss was exactly the right thing to do! It wouldn't have made the kiss "unnatural" or "the wrong way" just because you asked - in fact, that would have just made it consensual! It's good
to communicate your wants and ask for confirmation of your partner's wants. Just because that's not a narrative you see a lot on the big screen doesn't mean it was the wrong way to go about things.
I'm sorry you feel stuck in a place where you're not sure what to do next! It's frustrating to want something but not be sure how to be open to it. Of course, you don't have to and shouldn't do anything you're uncomfortable with, but could you maybe spend some more time evaluating what you want and possibly re-framing your options?
For example, dating apps and dating in general (maybe not tindr - there are a lot of apps out there, many of which are geared towards specific groups; it's not so big yet, but there is AceApp geared towards aces, so it might be a more lowkey place for you to dip your toes into). Could you start thinking about what ideal dates would be like for you? I think there's a lot of pressure nowadays for dates to be really serious and for them to progress into something long-term, but at its base, dating is really just a way for people to go out and get to know each other and explore their (potential) feelings for each other. Maybe you could be upfront about your demisexuality in your profile and let people know that you'd like to treat dating as "friend dating" and keep things low stakes in the romance department at first and see what grows out of getting to know each other, since you won't know if you'll become attracted to someone until after you've gotten to know each other more.
Or could you spend some time breaking down why you absolutely don't want to date your friends? Is it because of your almost relationship with your really good friend? It sounds like you're possibly needlessly holding onto some guilt and shame and regret about the almost relationship. Is there another barrier to why you wouldn't want to try a romantic relationship with a friend?
demisexuality.org did a book "All About Demisexuality" that's available as an ebook for $5 which covers some topics that you might be interested in/find helpful. Their website also hosts a little dating as demisexual
section with some advice, as well as a "demi guide to sex". Going through the resources they offer might help you sort out your feelings and how to act on them more?
Finally, I know it's really hard to wait when you want something, but romance and sex are things that can't happen without other people's know/consent/involvement, so please don't get too caught up in your desire to have sex on a certain deadline! That's only going to put more pressure on you and make it seem even harder and more awkward to approach people and you can make yourself feel like a failure if it doesn't
happen on this timeline, which is absolutely not true! It'll happen when it happens. You can't force it to happen by a certain time. There's nothing wrong with not having sex by [arbitrary deadline]. =)