Do u ever know when ur ready to lose ur virginity

I’m 17 (18 this September) and I want to lose my virginity with my boyfriend who has been my best friend for awhile and sometimes I feel like I’m ready but there’s other days where I’m really scared I thought that I would know that I’m ready to have sex once I have no fear at all but one of my friends said there’s also a little fear and u won’t ever completely know and to just go with my gut. What do u ladies think!