Am I too young?

I’m a junior in high school but I’m 15 (skipped 4th grade and have a summer birthday, turn 16 in June). I’ve always been mentally and physically more mature than people my age and fit in more with people 16-20. I have my first serious boyfriend now and sometimes things get pretty intense. I don’t know if I’m too young or not for a more intimate relationship. I would like to have one, but I don’t know if people will think different of me or say I’m too young. Thoughts?

Edit:

I don’t necessarily mean sex, more just physically intimate things. He’s 16, and is the sweetest and most caring person ever. He always says he’ll wait for me to be ready and never puts on any pressure. I guess I more nervous of how other people will see me (I have extreme self esteem issues and have anxiety and depression)