I do not think religion and personal sexual preferences really mix in any "helpful" way and why you are discussing the two of them together puzzles me.

In a relationship, one is not supposed to be interested in feet but in the individual one is in the relationship with. Before sexual relations, if one wants a relationship, one generally spends time getting to know the person's character and background, who they are as a whole, not the person's sexual preferences.

I do not know that any women is/would be "scared" of foot wanking or breast rubs it just seems out of place in the context of getting to know a woman; your staring at a woman's feet/nail polish, for example; that has nothing to do with the woman herself and is a relatively "odd" place to stare in the overall scheme of things :-) When she said she was "afraid" you were going to asked to be foot wanked, it was not an actual fear, like one would have of snakes or spiders, but the thought you were going to go from discussing the weather or what to have for dinner to discussing feet in a sexual manner. You were not paying attention to the woman as a person, but as a sexual object.

Sex is supposed to be an overall, pair-bonding experience and generally our fantasies are just that. Focusing on just our fantasies, which are about an unusual/non-sexual "item" (breasts are used to feed babies, one massages them with one's hands/fingers and sucks on them) is not the "norm" and most people generally practice in that range.

You say you have not had sex and have little relationship experience. I think you have been with "yourself" too much and that has colored your thinking. You sound like you mostly have interaction only with what is inside your own head and that is not conducive to good "reality checking" and getting along with the vast majority of people. I do not think a true relationship (non-sexual intimacy) with another would currently be possible for you.

I think you need to work on getting out of your head and fantasies so much and into the world some and having genuine experiences and then seeing how you might "improve" upon them. There's nothing "wrong" with foot wanking/breast rubbing but you need a partner that enjoys that too and your pool of people to "start" with is probably extremely small, making finding someone like that not likely. The other alternative is to work on your actual relationships and learn to relate to whole women and to allow a whole woman to relate to you and then each may enjoy learning and enacting the other's fantasy. . .