TLDR: introverted men of Boston, how do you find dates without using dating apps?

I've been meaning to make a post about this for a long time but this recent post just gave me the courage to ask (thanks OP). I'm 24M doing a STEM Ph.D. and have been in the Boston area for the past two-ish years now. I'd like to get any advice on finding a date in Boston. I guess being an introvert makes things a bit (or a lot) difficult. I don't enjoy going to loud parties (& drinking) and places where I've to interact with lots of strangers at the same time. I do enjoy meeting new people but I work best in a small group setting as it's difficult to know someone in larger groups.

I enjoy all sorts of outdoorsy things, dancing, and reading. So an ideal place to find like-minded people could be dance classes, clubs, or bookstores. But I always worry about coming out as desperate (or creepy) and making someone feel uncomfortable. How do I gather the courage to ask someone out for a coffee? How long do you usually wait to ask them out? Any tips here? I also really like deep and meaningful conversations but it's been tough to find such people around. Approaching a cute stranger in a club or on the streets or anywhere is not my thing (again, I fear making them feel uncomfortable). I tried dating apps too but they are simply too exhausting for me.

As of now, I've been trying to enjoy things (solo long bike rides, long walks, catching sunsets) and focussing on improving myself. But I do feel like sharing this joy with someone. Thanks for reading and for all your suggestions :)