The internet is the perfect way to communicate with him now in our current circumstances. Don’t be afraid to approach him via email. Just make it very casual and if he is interested he will respond promptly. If he doesn’t then he wasn’t interested and that’s ok too. Your better off knowing than going round and round in your head whether you two could’ve had something or not.
I mean you live once so go for it.
I get social anxiety as well so I understand what you mean about what it takes to have the courage to approach someone who’s response is very critical which is more of a reason to go for it!