Joining a gym?

So a few years ago I went on a health journey and I lost like 70 pounds. And then I did gain it all back. Now, I'm starting to get back on it. For my health, for myself. I've been dieting again for like a week, but that's not why I'm here. I was wondering if it's worth it to join a gym. I know there's like YouTube workout videos, and I bought a walking pad but I think my stance is too wide for it and I feel very off balance. I went to my local gym today with a friend and I just felt so out of place and like I shouldnt be there. Is that true? No. But does it feel like that? Yeah. I don't really know how to like, work out. Like I know how the machines work but I have no routine, or flow, or real like, intention? Maybe intention isn't the best word. But like, how do I get over feeling like I'm just in there playing around and wandering aimlessly? Is a gym membership (15/month) worth it? I would go a few times a week at least. Does the imposter syndrome go away? I worry people will stare at me. It's really hard going to a gym in a bigger body that's also kind of weak . TLDR: I went to the gym today as a guest with a friend, and I think I would like to continue going. Im half looking for like workout tips exactly, but also I do need help with having imposter syndrome. I feel so much like I don't belong there, and like I have no idea what I'm doing. How did you guys handle that? Does the feeling go away? The free weights are intimidating lol