I believe you.
I'm in a similar (well actually probably a little worse) situation than you. I'm a little taller and also lived with my parents into my 30's. All my life, I have basically felt invisible to girls.
I'm now 43 and I have never been on a date. I did have a female friend in grad school and we did eat lunch together sometimes but I don't consider that a date because there was no romantic intentions (she had a boyfriend whom she eventually married -- although I did find her very attractive and for awhile I became more attracted to latinas because of her).
Insteading of becoming a bitter old man I try to use humor to laugh at my situation and I'm suspecting you are doing the same. What actually depresses me the most is when no one believes me -- that makes me close up and isolate myself more in real life. My big fear is being so different that I cannot ever belong or be accepted.
When I was younger I went to some adult sites and posted my real size and it seems no one believed me. Instead I saw other guys posting about their worries about having a 5 or 5.5 incher and other people reassuring him that size doesn't matter and stuff. Girls respond that they had an ex that small and that he turned out to be one of their better lovers and then they usually make a comment about how their current boyfriend is 7 inches and they are happy.
And I'm thinking, "5 or 5.5 inches is not small! It's a little less than average but it's not small. I would love to be that big". And then I also think, "Why do all these women that respond have ex's that have so-called small penises? Don't any of them have current boyfriends or husbands with small penises?" Wow, that reassuring. It almost seems like if you have a small one, you can never be a current boyfriend or husband.