A lot of times when people complain about being friendzoned, it’s because they kept hanging out with someone while secretly wanting to date them, but never made their intentions clear. Be good company and spend enough time together that you can tell she’s feeling comfortable, then ask her out or express your interest.
Do you find it pretty easy to come up with something to talk about in a group of men, or with women not in your age range or dating pool? What I’m getting at is whether this is more of a basic social skills challenge, or more about the nervousness that comes when you’re trying not to mess up a chance with a woman
In that case, it’s probably why people keep telling you to be confident, because that’s the short version of what you’ll need. But to elaborate, I think you could build confidence by getting more experience in talking to women in your dating pool- which may be made easier if you practice that without any intention of asking them out. Expectations and fear of failure are a lot of what drives anxiety, so if you talk with women without a goal in mind, you can practice with less anxiety