The secret of learning Salsa (and other things) is that most people give up to early (after the 1st lesson, 2nd lesson). If you keep on going, the lessons that were hard for you in the beginning will become easy. If you keep going and get better and be (more) social and fun, the follower that you were intimidated to dance with will ask to dance with you... (the tipping point, an important milestone).

If you can take lessons with your wife and practice with your wife at home, that will make it easier. The hardest thing for single persons who start learning Salsa is that they don't have someone to regularly practice with. This is usually not a problem for the most dedicated beginners, as they block off their free time for learning salsa (multiple lessons a week all the way up to multiple lessons a day). The most social tend to progress the fastest, as everyone wants to be around someone who is fun and social. Salsa is a community, like anything else.

Addicted2Salsa has enough free lesson videos to keep you busy for a long time.

https://www.addicted2salsa.com/

Start listening to Salsa music instead of other music, so you can pick up the '1' (or the '2') beat.

Buena suerte!